Intelligent Motion Systems MDrive34AC User Manual

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mICROSTEPPING

Excellence in Motion

MICROSTEPPING

Operating

Instructions

www.imshome.com

Page 2

MDriveAC Plus Motion Control Hardware Reference Change Log

Date Revision Changes

03/07/2006 R030706 Initial Release

04/13/2006 R041306 Corrected Motor+Driver weight speciﬁcation for MDM34AC Plus, added notes on recommended mating connector for

05/04/2006 R050406 Removed Ambient Temperature Speciﬁcation

05/25/2006 R052506 Replaced USB to SPI Cable Driver Installation with instructions relavent to Windows XP Service Pack 2.

03/02/2007 R030207 Reworked IMS SPI Motor Interface Section, added information relevant to UL recognition. Added Enable Active High/

12/17/2007 R121707 Minor updates and corrections. Made relevant to Firmware Version 3.0.02. Added Appendix for size 34 Linear slide.

the M23 19-pin connector P1. Added MD-CS10x-000 and MD-CS-20x-000 To Appendix C.

Low parameter for SPI, changed temperature speciﬁcation to: -40°C to +75°C (non-condensing humidity), measured at the heat sink, and -40°C to +90°C (non-condensing humidity), measured on the motor.

03/18/2008 R031808 Added CW/CCW to the list of clock option labels for the differential input version. Functionality is the same as the

up/down clock type. Added qualiﬁcation os personnel and intended use statements to inside front.

Low Voltage Installation Information

Certain practices must be followed when installing the AC motor drives in order to meet the requirements of the Low Voltage Directive 73/23/EEC and as amended by Directive 93/68/EEC. The AC motor drives are components intended for installation within other electrical systems or machines. The system or machine builder must ensure their product complies with the applicable standards required for that equipment. The following information applies to the AC motor drives as far as the Low Voltage Directive is concerned.

1) The AC motor drives are designed to be installed in a pollution degree level 2 environment.

2) All control inputs and outputs are isolated from AC power with a basic insulation rating. The minimum clearance and creepage distance on the printed wiring board from the AC input to the control inputs and outputs is 3 millimeters. This is representative of an impulse rating of 4 KV (1.2/50 us) as referenced in standard EN50178.

3) The control inputs and outputs may require an additional level of protection against direct contact if such protection is required by the standards governing the overall system or machine and its intended environment. It is the machine builder’s responsibility to provide this protection if needed.

4) Be sure to wire the AC power and earth ground connection as shown in the operator’s manual.

5) All cautions and warnings listed throughout the operator’s manual must be followed to insure safe system operation.

UL Application Details and Conditions of Acceptance

The UL Application Details and Conditions of Acceptance are located on the wed at http://www.imshome.com/CE_conformity.html.

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is assumed for

inaccuracies.

Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any liability arising out of the application or use of any product or circuit described herein; neither does it convey any license under its patent rights of others. Intelligent Motion Systems and are

trademarks of Intelligent Motion Systems, Inc.

Intelligent Motion Systems, Inc.’s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury. Per Intelligent Motion Systems, Inc.’s terms and

conditions of sales, the user of Intelligent Motion Systems, Inc., products in life support or aircraft applications assumes all risks of such

use and indemnifies Intelligent Motion Systems, Inc., against all damages.

MDriveAC Plus Microstepping

Revision R031808

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Important information

Qualication of personnel

The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However,

drives and drive controllers that are not specically designed for safety functions

are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or un-braked movements can never be totally excluded without additional safety equipment. For this reason personnel must never be in the danger zone of the drives unless additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also required.

Only technicians who are familiar with and understand the contents of this manual and the other relevant documentation are authorized to work on and with this drive system. The technicians must be able to detect potential dangers that may be caused by setting parameters, changing parameter values and generally by the operation of mechanical, electrical and electronic equipment.

The technicians must have sufcient technical training, knowledge and experience

to recognise and avoid dangers.

The technicians must be familiar with the relevant standards, regulations and safety regulations that must be observed when working on the drive system.

Intended Use

The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However,

drives and drive controllers that are not specically designed for safety functions

are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or unbraked movements can never be totally excluded without additional safety equipment.

For this reason personnel must never be in the danger zone of the drives unless additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also required.

In all cases the applicable safety regulations and the specied operating conditions, such as environmental conditions and specied technical data, must be observed.

The drive system must not be commissioned and operated until completion of instal-

lation in accordance with the EMC regulations and the specications in this manual.

To prevent personal injury and damage to property damaged drive systems must not be installed or operated.

Changes and modications of the drive systems are not permitted and if made all no

warranty and liability will be accepted.

The drive system must be operated only with the specied wiring and approved

accessories. In general, use only original accessories and spare parts.

The drive systems must not be operated in an environment subject to explosion hazard (ex area).

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Getting Started: MDriveAC Plus Microstepping ..........................................................................1-1

Before You Begin ....................................................................................................................... 1-1

Connecting AC Power ............................................................................................................... 1-1

Connect Opto Power and Logic Inputs ..................................................................................... 1-1

Connecting Parameter Setup Cable ........................................................................................... 1-2

Install the IMS SPI Motor Interface .......................................................................................... 1-2

Part 1: Hardware Specifications

Section 1.1: Introduction to the MDrive34AC Plus Microstepping ..............................................1-5

Configuring .............................................................................................................................. 1-5

Features and Benefits ................................................................................................................. 1-5

Section 1.2: MDrive34AC Plus Microstepping Detailed Specifications ........................................1-7

General Specifications ............................................................................................................... 1-7

Setup Parameters ....................................................................................................................... 1-8

Mechanical Specifications .......................................................................................................... 1-9

Pin Assignment and Description ............................................................................................. 1-10

P1 19-Pin M23 Connector - I/O and SPI Communications ......................................... 1-10

P1 19-Pin M23 Connector - I/O, SPI Communications with Encoder Interface Option 1-11

P3 Connector - AC Power ............................................................................................. 1-12

Internal Encoder ........................................................................................................... 1-12

Control Knob ...............................................................................................................1-12

Planetary Gearbox ......................................................................................................... 1-12

Parameter Setup Cable and Adapter .............................................................................. 1-12

Cordsets ........................................................................................................................ 1-12

Table Of Contents

Section 1.3: Introduction to the MDrive42AC Plus Microstepping ............................................1-13

Configuring ............................................................................................................................ 1-13

Features and Benefits ............................................................................................................... 1-13

Section 1.4: MDrive42AC Plus Microstepping Detailed Specifications ......................................1-15

Setup Parameters ..................................................................................................................... 1-16

Pin Assignment and Description ............................................................................................. 1-18

P1 19-Pin M23 Connector - I/O and SPI Communications ......................................... 1-18

P1 19-Pin M23 Connector - I/O, SPI Communications with Encoder Interface Option 1-19

P3 Connector - AC Power ............................................................................................. 1-20

Internal Encoder ........................................................................................................... 1-21

Control Knob ...............................................................................................................1-21

Parameter Setup Cable and Adapter .............................................................................. 1-21

Cordsets ........................................................................................................................ 1-21

Part 2: Interfacing and Configuration

Section 2.1: Logic Interface and Connection ...............................................................................2-3

Optically Isolated Logic Inputs .................................................................................................. 2-3

Isolated Logic Input Pins and Connections ............................................................................... 2-3

Isolated Logic Input Characteristics ........................................................................................... 2-4

Enable Input ................................................................................................................... 2-4

Clock Inputs ................................................................................................................... 2-4

Optocoupler Reference .............................................................................................................. 2-6

Input Connection Examples ...................................................................................................... 2-7

Open Collector Interface Example .................................................................................. 2-7

Switch Interface Example ................................................................................................ 2-8

Fault Output ............................................................................................................................. 2-8

Minimum Required Connections .............................................................................................. 2-9

Section 2.2: Connecting SPI Communications ..........................................................................2-10

Connecting the SPI Interface .................................................................................................. 2-10

SPI Signal Overview ................................................................................................................ 2-10

SPI Pins and Connections ....................................................................................................... 2-11

SPI Master with Multiple MDriveAC Plus Microstepping ...................................................... 2-11

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Section 2.3: Using the IMS SPI Motor Interface ........................................................................2-12

Installation .............................................................................................................................. 2-12

Configuration Parameters and Ranges ..................................................................................... 2-12

Color Coded Parameter Values ................................................................................................ 2-12

IMS SPI Motor Interface Menu Options.................................................................................2-13

Screen 1: The Motion Settings Configuration Screen .............................................................. 2-15

MSEL (Microstep Resolution Selection) ....................................................................... 2-15

HCDT (Hold Current Delay Time) .............................................................................2-16

MRC (Motor Run Current) .......................................................................................... 2-16

MHC (Motor Hold Current) ........................................................................................ 2-16

DIR (Motor Direction) ................................................................................................. 2-16

User ID ......................................................................................................................... 2-16

IMS SPI Motor Interface Button Functions .................................................................. 2-16

Screen 2: I/O Settings Configuration Screen ........................................................................... 2-17

Input Clock Type .......................................................................................................... 2-17

Input Clock Filter ......................................................................................................... 2-17

Enable Active High/Low ............................................................................................... 2-17

Warning Temperature ................................................................................................... 2-17

IMS Part Number/Serial Number Screen ................................................................................ 2-18

Fault Indication ....................................................................................................................... 2-18

Upgrading the Firmware in the MDriveAC Plus Microstepping .............................................. 2-19

The IMS SPI Upgrader Screen ...................................................................................... 2-19

Upgrade Instructions ..................................................................................................... 2-19

Initialization Screen ................................................................................................................. 2-20

Port Menu..................................................................................................................... 2-20

Section 2.4: Using User-Defined SPI .........................................................................................2-21

SPI Timing Notes .................................................................................................................... 2-21

Check Sum Calculation for SPI ............................................................................................... 2-21

SPI Commands and Parameters...............................................................................................2-22

SPI Communications Sequence .................................................................................... 2-23

Appendices

Appendix A: MDriveAC Plus Microstepping Motor Performance ............................................... A-3

Appendix B: MDrive with Planetary Gearbox ...........................................................................A-6

Appendix C: Optional Cables and Cordsets .............................................................................. A-17

MDrive34AC Plus Microstepping .............................................................................................A-3

Speed-Torque Curves ......................................................................................................A-3

Motor Specifications .......................................................................................................A-3

MDrive42AC Plus Microstepping .............................................................................................A-4

Speed-Torque Curves ......................................................................................................A-4

Motor Specifications .......................................................................................................A-5

Section Overview ......................................................................................................................A-6

Product Overview .....................................................................................................................A-6

Selecting a Planetary Gearbox....................................................................................................A-6

Calculating the Shock Load Output Torque (TAB) .........................................................A-7

System Inertia .........................................................................................................................A-10

Planetary Gearbox for MDrive34AC Plus2 .............................................................................A-14

PM81 Gearbox Ratios and Part Numbers .....................................................................A-14

Planetary Gearbox for MDrive42AC Plus2 .............................................................................A-15

PM105 Gearbox Ratios and Part Numbers ...................................................................A-15

PM120 Gearbox Ratios and Part Numbers ...................................................................A-16

MD-CC300-000: USB to SPI Parameter Setup Cable ............................................................A-17

Installation Procedure for the MX-CC300-000 .......................................................................A-17

Installing the Cable/VCP Drivers ..................................................................................A-17

Determining the Virtual COM Port (VCP) ..................................................................A-19

Adapter ...................................................................................................................................A-20

MD-CS10x-000 Cordset .........................................................................................................A-21

Pin Assignment and Wire Colors ..................................................................................A-21

MD-CS20x-000 Cordset .........................................................................................................A-22

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Appendix D: Interfacing the Internal Differential Optical Encoder ........................................ A-23

Factory Mounted Encoder .......................................................................................................A-23

General Specifications .............................................................................................................A-23

Pin Configuration ................................................................................................................... A-23

Encoder Signals .......................................................................................................................A-24

Appendix E: Linear Slide Option ............................................................................................ A-25

Features ................................................................................................................................... A-25

MDrive32Plus Linear Slide ..................................................................................................... A-25

Speed Force Limitations ................................................................................................A-25

Speed-Torque Curves ....................................................................................................A-25

Specifications ................................................................................................................ A-26

Mechanical Specifications .............................................................................................A-26

Figure GS.1: Minimum Logic and Power Connections ............................................................. 1-1

Figure GS.2: MDriveAC Plus CD ............................................................................................. 1-2

Figure GS.3: IMS Motor Interface Showing Default Settings .................................................... 1-2

Part 1: Hardware Specifications

Figure 1.1.1: MDrive34AC Plus Microstepping ........................................................................ 1-5

Figure 1.2.1: MDrive34AC Plus Mechanical Specifications ....................................................... 1-9

Figure 1.2.2: P1 Connector, Power and I/O ............................................................................ 1-12

Figure 1.2.3: P3 3-Pin Euro AC Connector ............................................................................. 1-12

Figure 1.3.1: MDrive42AC Plus Microstepping ..................................................................... 1-13

Figure 1.4.1: MDrive42AC Plus Mechanical Specifications ..................................................... 1-17

Figure 1.4.2: P1 Connector, Power and I/O ............................................................................ 1-20

Figure 1.4.3: P3 3-Pin Euro AC Connector ............................................................................. 1-20

List Of Figures

Part 2: Interfacing and Configuration

Figure 2.1.1: Isolated Logic Pins and Connections ....................................................................2-3

Figure 2.2.1: MDriveAC Plus Microstepping Block Diagram .................................................... 2-3

Figure 2.1.2: Input Clock Functions ......................................................................................... 2-4

Figure 2.1.3: Clock Input Timing Characteristics ...................................................................... 2-5

Figure 2.1.4: Optocoupler Input Circuit Diagram ..................................................................... 2-6

Figure 2.1.5: Open Collector Interface Example ........................................................................ 2-7

Figure 2.1.6: Switch Interface Example ..................................................................................... 2-8

Figure 2.1.7: Fault Output interfaced to an LED ...................................................................... 2-9

Figure 2.1.8 Minimum Required Connections .......................................................................... 2-9

Figure 2.2.1: MD-CC300-000 Parameter Setup Cable ............................................................ 2-10

Figure 2.2.2: SPI Pins and Connections, 10-Pin IDC.............................................................. 2-11

Figure 2.2.4: SPI Master with a Single MDriveAC Plus Microstepping ................................... 2-11

Figure 2.2.5: SPI Master with Multiple MDriveAC Plus Microsteppings ................................ 2-11

Figure 2.3.1: SPI Motor Interface Color Coding ..................................................................... 2-13

Figure 2.3.3: SPI Motor Interface View Menu ......................................................................... 2-13

Figure 2.3.2: SPI Motor Interface File Menu ........................................................................... 2-13

Figure 2.3.4: SPI Motor Interface Recall Menu ....................................................................... 2-14

Figure 2.3.5: SPI Motor Interface Upgrade Menu ................................................................... 2-14

Figure 2.3.6: SPI Motor Interface Help Menu and About Screen ............................................ 2-14

Figure 2.3.7: SPI Motor Interface Motion Settings Screen ....................................................... 2-15

Figure 2.3.8: SPI Motor Interface I/O Settings Screen ............................................................. 2-17

Figure 2.3.9: SPI Motor Interface Part and Serial Number Screen ........................................... 2-18

Figure 2.3.10: SPI Motor Interface Upgrade Utility ................................................................ 2-19

Figure 2.3.11: SPI Motor Interface Initialization ..................................................................... 2-20

Figure 2.3.12: SPI Motor Interface Port Menu ........................................................................ 2-20

Figure 2.4.1: SPI Timing ......................................................................................................... 2-21

Figure 2.4.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown) ....... 2-23

Appendices

Figure A.1: MDrive34AC Plus 120VAC Microstepping Speed-Torque Curves ..........................A-3

Figure A.2: MDrive34AC Plus 240VAC Microstepping Speed-Torque Curves ..........................A-3

Figure A.3: MDrive42AC Plus 120VAC Microstepping Speed-Torque Curves ..........................A-4

Figure A.4: MDrive42AC Plus 240VAC Microstepping Speed-Torque Curves ..........................A-4

Figure B.1: MDrive23 Torque-Speed Curve ..............................................................................A-8

iii

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Figure B.2: Lead Screw System Inertia Considerations ............................................................A-10

Figure B.3: Rack and Pinion System Inertia Considerations ....................................................A-11

Figure B.4: Conveyor System Inertia Considerations ...............................................................A-11

Figure B.5: Rotary Table System Inertia Considerations ..........................................................A-12

Figure B.6: Chain Drive System Inertia Considerations ...........................................................A-13

Figure B.7: Planetary Gearbox Specifications for MDrive34AC Plus Figure B.8: PM105 Planetary Gearbox Specifications for MDrive42AC Plus Figure B.9: PM120 Planetary Gearbox Specifications for MDrive42AC Plus

Figure C.2: MD-CC300-000 Mechanical Specifications .........................................................A-17

Figure C.1: MD-CC300-000 ..................................................................................................A-17

Figure C.3: Hardware Update Wizard .....................................................................................A-17

Figure C.4: Hardware Update Wizard Screen 2 .......................................................................A-18

Figure C.5: Hardware Update Wizard Screen 3 .......................................................................A-18

Figure C.6: Windows Logo Compatibility Testing ...................................................................A-18

Figure C.8: Hardware Properties .............................................................................................A-19

Figure C.7: Hardware Update Wizard Finish Installation ........................................................A-19

Figure C.9: Windows Device Manager ....................................................................................A-19

Figure C10: Typical Setup, Adapter and Single-End Cordset ...................................................A-20

Figure C.11: MD-ADP-M23 ..................................................................................................A-20

Figure C.12: MD-ADP-M23 Mechanical Specifications .........................................................A-20

Figure C.13: MD-CS10x-000 Prototype Development Cordset ..............................................A-21

Figure C.14: MD-CS20x-000 .................................................................................................A-22

Figure D.1: Internal Differential Encoder Pin Configuration ..................................................A-23

Figure D.2: Differential Encoder Signal Timing ......................................................................A-24

Figure E.1: Speed-Force Limitations ........................................................................................A-25

Figure E.2: Speed-Torque Curves ............................................................................................A-25

Figure E.3: Mechanical Specifications ......................................................................................A-26

2 .....................................A-14

2 ........................A-15

2 ........................A-16

Table GS.1: AC Wire Colors ..................................................................................................... 1-1

Part 1: Hardware Specifications

Table 1.2.1: Setup Parameters .................................................................................................... 1-8

Table 1.2.2: P1- 19-Pin M23 Pin Assignment and Description ...............................................1-10

Table 1.2.3: P1- 19-Pin M23 Pin Assignment and Description (Internal Optical Encoder) ..... 1-11

Table 1.2.4: P3 - AC Power ..................................................................................................... 1-12

Table 1.4.1: Setup Parameters .................................................................................................. 1-16

Table 1.4.2: P1- 19-Pin M23 Pin Assignment and Description ...............................................1-18

Table 1.4.3: P1- 19-Pin M23 Pin Assignment and Description (Internal Optical Encoder) ..... 1-19

Table 1.4.4: P3 - AC Power ..................................................................................................... 1-20

Part 2: Interfacing and Configuration

Table 2.1.1: Input Clocks Timing Table ....................................................................................2-5

Table 2.1.2: Optocoupler Reference Connection ....................................................................... 2-6

Table 2.1.3: Fault Output Specifications ................................................................................... 2-8

Table 2.3.1: Setup Parameters and Ranges ............................................................................... 2-12

Table 2.3.2: Microstep Resolution Settings .............................................................................. 2-15

Table 2.3.4: Input Clock Filter Settings ................................................................................... 2-17

Table 2.4.1: SPI Commands and Parameters ........................................................................... 2-22

Appendices

Table B.1: Planetary Gearbox Operating Factor .........................................................................A-9

Table B.2: Planetary Gearbox Specifications – PM81 ..............................................................A-14

Table B.3: Planetary Gearbox Ratios and Part Numbers ..........................................................A-14

Table B.4: Planetary Gearbox Specifications – PM105 ............................................................A-15

Table B.5: PM105 Planetary Gearbox Ratios, Inertia Moments and Part Numbers .................A-15

Table B.7: PM120 Planetary Gearbox Ratios, Inertia Moments and Part Numbers .................A-16

Table B.6: Planetary Gearbox Specifications – PM120 ............................................................A-16

Table C.1: MD-CS10x-000 Wire Color Chart ........................................................................A-21

Table C.2: Euro AC Wire Color Chart ....................................................................................A-22

Table D1: Available Encoder Line Counts and Part Numbers ..................................................A-23

Table E.1: Linear Slide Specifications ......................................................................................A-26

List of Tables

Page 9

Getting Started

Pin 1: Optocoupler Reference*

Pin 1: Earth (Chassis) Ground

Pin 2: AC Line

Pin 3: AC Neutral

Pin 18: Step Clock

Pin 13: Direction

P3: AC Power

P1: I/O

{

MD-CS200-000

Lumberg

Equivalent

*Optocoupler Reference = +5 to +24 VDC: Sinking Inputs *Optocoupler Reference = GND: Sourcing Inputs

MDriveAC Plus Microstepping

Before You Begin

The Quick Start guide is designed to help quickly connect and begin using your MDriveAC Plus Microstepping integrated motor and driver. The following examples will help you get the motor turning for the first time and introduce you to the basic settings of the drive.

Tools and Equipment Required

 MDriveAC Plus Microstepping Unit.  Parameter setup cable MD-CC300-000 and Adapter MD-ADP-M23 or equivalent (USB to SPI).  Product CD or Internet access to www.imshome.com.  Control Device for Step/Direction.  +5 to +24 VDC optocoupler supply.  Basic Tools: Wire Cutters / Strippers / Screwdriver.  Wiring/Cabling for AC Power and Logic Connections (See Note in page margin).  A PC with Windows XP Service Pack 2.

Connecting AC Power

AC Power to Connector P3.

AC Power To P3

P3 Function US Color Euro Color

1 Earth GND Green Green/Yellow

2 AC Line Black Brown

3 AC Neutral White Blue

Table GS.1: AC Wire Colors

WARNING! The MDrive has components which

are sensitive to Electrostatic Discharge (ESD). All handling should be done at an ESD protected workstation.

Note: UL Recognition requires

the use of the MD-CS20x-000 or Lumberg Equivalent AC Power Cordset.

Connect Opto Power and Logic Inputs

Using the recommended wire (see the specifications for your MDriveAC Plus), connect the DC output of the optocoupler power supply to the P1, Pin 1 of your MDriveAC Plus

Connect the opto supply ground to the Power Ground pin appropriate for your controller/control circuitry.

Microstepping

model.

Figure GS.1: Minimum Logic and Power Connections

Part 1: Hardware Speciﬁcations

1-1

Page 10

WARNING!

Motion Settings Dialog Input Settings Dialog

Because the MDrive consists

of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal

Specications.

Figure GS.2: MDriveAC Plus CD

Connecting Parameter Setup Cable

Connect the Host PC to the MDriveAC Plus Microstepping using the IMS Parameter Setup Cable or equivalent.

Install the IMS SPI Motor Interface

The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDriveAC Plus Microstepping. It is available both on the MDriveAC Plus CD that came with your product and on the IMS web site at http://www.imshome.com/software_interfaces.html.

1. Insert the CD into the CD Drive of your PC. If the CD is not available, go to http://www.imshome. com/software_interfaces.html.

2. The CD will auto-start.

3. Click the Software Button in the top-right navigation Area.

4. Click the IMS SPI Interface link appropriate to your operating system.

5. Click SETUP in the Setup dialog box and follow the on-screen instructions.

6. Once IMS SPI Motor Interface is installed, the MDriveAC Plus Microstepping settings can be checked and/or set.

Once installed you can change the motor run current, holding current, microstep resolution and other configuration settings. By sending clock pulses to the drive you can now change these settings safely on the fly as the IMS SPI Motor interface will not allow you to set an out of range value.

Figure GS.3: IMS Motor Interface Showing Default Settings

1-2

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 11

mICROS TEPPING

Excellence in Motion

Part 1: Hardware Specifications

Section 1.1: MDrive34AC Plus Microstepping Product Introduction

Section 1.2: MDrive34CAC Plus Microstepping Detailed Speciﬁcations

Section 1.3: MDrive42AC Plus Microstepping Product Introduction

Section 1.4: MDrive42AC Plus-65 Microstepping Detailed Speciﬁcations

Part 1: Hardware Speciﬁcations

1-3

Page 12

Page Intentionally Left Blank

1-4

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 13

SECTION 1.1

Introduction to the MDrive34AC Plus Microstepping

The MDrive34AC Plus Microstepping high torque integrated motor and driver is ideal for designers who want the simplicity of a motor with on-board electronics. The integrated electronics of the MDrive34AC Plus eliminate the need to run motor cabling through the machine, reducing the potential for problems due to electrical noise.

The unsurpassed smoothness and performance delivered by the MDrive34AC Plus Microstepping are achieved through IMS's advanced 2nd generation current control. By applying innovative techniques to control current flow through the motor, resonance is significantly dampened over the entire speed range and audible noise is reduced.

The MDrive34AC Plus accepts a broad input voltage range from 95 to 264 VAC, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, reducing problems that can occur with long runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.

The MDrive34AC Plus uses a NEMA 34 frame size high torque brushless motor combined with a microstepping driver, and accepts up to 20 resolution settings from full to 256 microsteps per full step, including: degrees, metric and arc minutes. These settings may be changed on-the-fly or downloaded and stored in nonvolatile memory with the use of a simple GUI which is provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port.

For use in environments where exposure to dust and liquids may occur, a sealed MDrive34AC Plus Microstepping unit with circular connectors meets IP65 specifications.

The versatile MDrive34AC Plus Microstepping is available in multiple configurations to fit various system needs. Three rotary motor lengths are available as are optional: internal optical encoder; control knob for manual positioning; integrated planetary gearbox. A long life Acme screw linear actuator version is also available. Interface connections are accomplished using standard industrial connectors.

The MDrive34AC Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and assembly time for a large range of brushless motor applications.

Figure 1.1.1: MDrive34AC Plus Microstepping Integrated

Motor, Power Supply, and Drive Electronics

Configuring

The IMS Motor Interface software is an easy to install and use GUI for configuring the MDrive34AC Plus from a computer's USB port. GUI access is via the IMS SPI Motor Interface included on the CD shipped with the product, or from www.imshome.com. Optional cables are available for ease of connecting and configuring the MDrive.

The IMS SPI Motor Interface features:

 Easy installation. 

Automatic detection of MDrive version

 Will not set out-of-range values.  Tool-tips display valid range

setting for each option.

 Simple screen interfaces.

and communication configuration.

Features and Benefits

 Highly Integrated Microstepping Driver and NEMA 34 High Torque Brushless Motor  Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness Single Supply: 120 or 240 VAC  Low Cost  Extremely Compact

Part 1: Hardware Speciﬁcations

1-5

Page 14

 20 Microstep Resolutions up to

 51,200 Steps Per Rev Including:  Degrees, Metric, Arc Minutes

 Optically Isolated Logic Inputs will

 Accept +5 to +24 VDC Signals,  Sourcing or Sinking

Automatic Current Reduction Configurable:

 Motor Run/Hold Current  Motor Direction vs. Direction Input  Microstep Resolution  Clock Type: Step and Direction,  Programmable Digital Filtering for Clock and Direction Inputs Available Options:  Internal Differential Optical Encoder  Integrated Planetary Gearbox  Control Knob for Manual Positioning

 IP65 Sealed Configuration

 3 Rotary Motor Lengths Available  Current and Microstep Resolution May Be Switched On-The-Fly  Interface Options:

 Circular 19-Pin M23  Circular 3-Pin Euro AC  Graphical User Interface (GUI) for Quick and Easy Parameter Setup

Quadrature, Step Up and Step Down

1-6

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 15

SECTION 1.2

MDrive34AC Plus Microstepping Detailed Specifications

General Specifications

Electrical Specifications

Input Voltage (+VAC) Range (120 VAC MDrive) 95 to 132 VAC @ 50/60 Hz Input Current (120 VAC MDrive) 4.2 A Maximum Input Voltage (+VAC) Range (240 VAC MDrive) 95 to 264 VAC @ 50/60 Hz Input Current (240 VAC MDrive) 2.1 A Maximum

Thermal Specifications

Heat Sink Temperature (non-condensing) -40°C to +75°C Motor Temperature (non-condensing) -40°C to +90°C

I/O Specifications

Isolated Inputs — Step Clock, Direction and Enable

Resolution 10 Bit Voltage Range (Sourcing or Sinking) +5 to +24 VDC Current (+5 VDC Max) 8.7 mA Current (+24 VDC Max) 14.6 mA

WARNING! Because the MDrive consists

of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See

Thermal Specications.

Communications Specifications

Protocol SPI

Motion Specifications

Microstep Resolution

Number of Resolutions 20

200 400 800 1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 51200 36000121600225400

1 = 0 . 0 1 d eg /µ st ep 2 =1 a rc m in ut e/ µs te p 3= 0. 00 1 mm /µ st ep

Digital Filter Range

Clock Types

Step Frequency (Max) 5.0 MHz

Step Frequency Minimum Pulse Width 100 nS

Available Microsteps Per Revolution

50 nS to 12.9 µS

(10 MHz to 38.8kHz)

Step/Direction,

Quadrature, Clock

Up/Clock Down

Part 1: Hardware Speciﬁcations

1-7

Page 16

Motor Specifications

Single Length

Holding Torque 330 oz-in/233 N-cm Detent Torque 10.9 oz-in/7.7 N-cm Rotor Inertia 0.01416 oz-in-sec2/1.0 kg-cm Weight (Motor + Driver) 3.8 lb/2.9 kg

Double Length

Holding Torque 500 oz-in/353 N-cm Detent Torque 14.16 oz-in/10.0 N-cm Rotor Inertia 0.02266 oz-in-sec2/1.6 kg-cm

Weight (Motor + Driver) 5.2 lb/3.5 kg

Triple Length

Holding Torque 750 oz-in/529 N-cm Detent Torque 19.83 oz-in/10.0 N-cm Rotor Inertia 0.04815 oz-in-sec2/3.4 kg-cm Weight (Motor + Driver) 8.6 lb/5.0 kg

Setup Parameters

The following table illustrates the setup parameters. These are easily configured using the IMS SPI Motor Interface configuration utility. An optional Parameter Setup Cable is available and recommended with the first order.

MDriveAC Plus Microstepping Setup Parameters

Name Function Range Units Default

MHC Motor Hold Current 0 to 100 percent 5

MRC Motor Run Current 1 to 100 percent 25

1, 2, 4, 5, 8, 10, 16, 25, 32, 50,

MSEL Microstep Resolution

64, 100,108, 125, 127,128,

180, 200, 250, 256

DIR Motor Direction Override 0/1 – CW

µsteps per

full step

256

HCDT Hold Current Delay Time 0 or 2-65535 mSec 500

CLK TYPE Clock Type

CLK IOF Clock and Direction Filter

Step/Dir. Quadrature, Up/Down

(CW/CCW)

50 nS to 12.9 µS

(10 MHz to 38.8 kHz)

– Step/Dir

nS (MHz)

(2.5 MHz)

USER ID User ID 1-3 characters Viewable ASCII IMS

WARN TEMP Warning Temperature 0 to 125

Degrees

Celsius

EN ACT Enable Active State High/Low — High

Table 1.2.1: Setup Parameters

200 nS

1-8

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 17

Mechanical Specifications

Dimensions in inches (mm)

Motor Length LMAX1

(Single Shaft)

LMAX2

(Control Knob)

Single 6.1 (155.0)

7.1 (180.4)

Double 6.9 (174.3)

7.9 (199.7)

Triple 8.4 (214.3)

9.4 (239.79)

Ø 0.87

(Ø 22.1)

Ø 0.87

(Ø 22.1)

Connectors

Control Knob

P1 19-Pin M23

P3 3-Pin Euro AC

Ø 1.90

(Ø 48.3)

MAX

Ø 0.55 +0/-0.0005 (Ø 14.0 +0/-0.013)

0.08 ±0.004 (2.0 ±0.1)

0.40

(10.1)

0.87 ±0.010 (22 ±0.25)

1.46 ±0.039 (37.0 ±1.0)

MAX2

2.70

(68.4)

Ø 0.22 (Ø 5.5)

0.63 +0/-0.017

(16.0 +0/-0.432)

0.20

+0/-0.002

(5.0

+0/-0.05

)

5.76

(146.2)

6.47*

(164.2)

3.46

(87.8)

Ø 2.87 ±0.002 (Ø 73.0 ±0.05)

0.71

(18.0)

3.38 SQ.

(85.8 SQ.)

2.74 +0/-0.010 SQ.

(69.58 +0/-0.25 SQ.)

Dimensions in Inches (mm)

Part 1: Hardware Speciﬁcations

Figure 1.2.1: MDrive34AC Plus Mechanical Specifications

1-9

Page 18

NEED A CABLE?

The following cordset is

available to interface to the 19-Pin M23 Connector:

Straight Termination

MD-CS100-000

Right Angle Termination

MD-CS-101-000

See Appendix E for details.

Pin Assignment and Description

P1 19-Pin M23 Connector - I/O and SPI Communications

Pin Assignment - P1 I/O and SPI Connections

Pin # Function Description

The signal applied to the Optocoupler Reference will

Pin 1 Opto Reference

Pin 2 Enable

Pin 3 N/C No Connect. Pin 4 N/C No Connect. Pin 5 N/C No Connect. Pin 6 N/C No Connect. Pin 7 N/C No Connect.

Pin 8 MOSI Master-Out/Slave-In. Carries output data from the SPI Master

Pin 9 CS

Pin 10 +5 VDC Output Supply voltage for the MD-CC300-000 Cable ONLY!

Pin 11 GND Communications Ground.

Pin 12 N/C No Connect.

Pin 13

Pin 14 N/C No Connect. Pin 15 N/C No Connect.

Pin 16 SPI Clock

Pin 17 MISO

Pin 18

Pin 19

Recommended

Cordset

MD-CS100-000 or

MD-CS101-000

Direction/Channel B/

Clock Down

Step Clock/Channel A/

Clock Up

Fault Output

determine the sinking/ or sourcing configuration of the inputs. To set the inputs for sinking operation, a +5 to +24 VDC supply is connected. If sourcing, the Reference is connected to Ground.

Enable/Disable Input will enable or disable the driver output to the motor. In the disconnected state the driver outputs are enabled in either sinking or sourcing configuration.

SPI Chip Select. This signal is used to turn communications on multiple MDM units on or off.

Direction input. The axis direction will be with respect to the state of the Direction Override Parameter. It may also receive quadrature and clock up type inputs if so configured.

The Clock is driven by the SPI Master. The clock cycles once for each data bit.

Master-In/Slave-Out. Carries output data from the MDM back to the SPI Master.

Step Clock input. The step clock input will receive the clock pulses which will step the motor 1 step for each pulse. It may also receive quadrature and clock up type inputs if so configured.

Open-Drain pending Over-temperature and Over-temperature Fault. When device reaches the temperature specified by the warning temperature the output will pulse at 1 second intervals. When in Over-temperature fault the output will be active continually.

1-10

Table 1.2.2: P1- 19-Pin M23 Pin Assignment and Description

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 19

P1 19-Pin M23 Connector - I/O, SPI Communications with Encoder Interface Option

Pin Assignment - P1 I/O, SPI and Encoder Connections

Pin # Function Description

The signal applied to the Optocoupler Reference will

Pin 1 Opto Reference

Pin 2 Enable

Pin 3 Index + Encoder Index + Output. Pin 4 Channel B + Encoder Channel B + Output. Pin 5 Channel B – Encoder Channel B – Output. Pin 6 N/C No Connect. Pin 7 Channel A + Encoder Channel A + Output.

Pin 8 MOSI Master-Out/Slave-In. Carries output data from the SPI Master

Pin 9 CS

Pin 10 +5 VDC Output Supply voltage for the MD-CC300-000 Cable ONLY!

Pin 11 GND Communications Ground.

Pin 12 N/C No Connect.

Pin 13

Pin 14 Index – Encoder Index – Output. Pin 15 Channel A – Encoder Channel A – Output.

Pin 16 SPI Clock

Pin 17 MISO

Pin 18

Pin 19

Recommended

Cordset

MD-CS100-000 or

MD-CS101-000

Direction/Channel B/

Clock Down

Step Clock/Channel A/

Clock Up

Fault Output

determine the sinking/ or sourcing configuration of the inputs. To set the inputs for sinking operation, a +5 to +24 VDC supply is connected. If sourcing, the Reference is connected to Ground.

Enable/Disable Input will enable or disable the driver output to the motor. In the disconnected state the driver outputs are enabled in either sinking or sourcing configuration.

SPI Chip Select. This signal is used to turn communications on multiple MDM units on or off.

Direction input. The axis direction will be with respect to the state of the Direction Override Parameter. It may also receive quadrature and clock up type inputs if so configured.

The Clock is driven by the SPI Master. The clock cycles once for each data bit.

Master-In/Slave-Out. Carries output data from the MDM back to the SPI Master.

Step Clock input. The step clock input will receive the clock pulses which will step the motor 1 step for each pulse. It may also receive quadrature and clock up type inputs if so configured.

Table 1.2.3: P1- 19-Pin M23 Pin Assignment and Description (Internal Optical Encoder)

Part 1: Hardware Speciﬁcations

1-11

Page 20

Pin 1

Pin 3

Pin 2

3-Pin Euro AC Connector

Pin 4

Pin 5

Pin 7

Pin 8

Pin 10

Pin 11

Pin 1

Pin 2

Pin 19

Pin 18

Pin 17

Pin 14

Pin 15

Pin 16

Outside: Pins 1 -12 Inside: Pins 13 - 19

Pin 3

Pin 12

Pin 6

Pin 9

Pin 13

NEED A CORDSET?

The following cordset is

available to interface to the 19-pin M23 Connector:

Straight Termination

MD-CS100-000

Right Angle Termination

MD-CS-101-000

See Appendix E for details.

Figure 1.2.2: P1 Connector, Power and I/O

NEED A

CORDSET?

The following

Euro AC Power

Cordset is

available:

Straight Termination

MD-CS200-000

Right Angle Termination

MD-CS-201-000

See Appendix E for details.

WARNING! Do not plug or unplug AC Power with the power on!

Note: UL Recognition requires

the use of the MD-CS20x-000 or Lumberg Equivalent AC Power Cordset.

P3 Connector - AC Power

Pin Assignment - P3 AC Power

Euro AC Circular (Male) Function Description

Pin 1 Chassis Ground Chassis Ground of the system. Pin 2 AC Power Line AC Power Line. Pin 3 AC Power Neutral AC Power Neutral.

Table 1.2.4: P3 - AC Power

Figure 1.2.3: P3 3-Pin Euro AC Connector

Options and Accessories

Internal Encoder

Internal differential optical encoders are offered factory-installed with the MDrive34AC Plus Microstepping. Refer to the Encoder Specifications section for available line counts. All encoders come with an index mark.

Control Knob

The MDrive34AC Plus is available with a factory-mounted rear control knob for manual shaft positioning. Not available with Sealed (-65) versions.

1-12

Planetary Gearbox

Efficient, low maintenance planetary gearboxes are offered assembled with the MDrive34AC Plus. Refer to gearbox Appendix for details and part numbers.

Parameter Setup Cable and Adapter

The optional 12.0' (3.6m) parameter setup cable part number MD-CC300-000 with adapter MD-ADP-M23 facilitates communications wiring and is recommended with first order. It connects to the MDrive's P1 19pin male M23 connector.

Cordsets

19-pin M23 single-ended cordsets are offered to speed prototyping of the MDrive34AC Plus. Measuring

13.0' (4.0m) long, they are available in either straight or right angle termination. PVC jacketed cables come with a foil shield and unconnected drain wire.

Straight Termination ........................................................................................... MD-CS100-000

Right Angle Termination ..................................................................................... MD-CS101-000

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 21

SECTION 1.3

Introduction to the MDrive42AC Plus Microstepping

The MDrive42AC Plus Microstepping high torque integrated motor and driver is ideal for designers who want the simplicity of a motor with onboard electronics. The integrated electronics of the MDrive42AC Plus eliminate the need to run motor cabling through the machine, reducing the potential for problems due to electrical noise.

The unsurpassed smoothness and performance delivered by the MDrive42AC Plus Microstepping are achieved through IMS's advanced 2nd generation current control. By applying innovative techniques to control current flow through the motor, resonance is significantly dampened over the entire speed range and audible noise is reduced.

The MDrive42AC Plus accepts a broad input voltage range from 95 to 264 VAC, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, reducing problems that can occur with long runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.

The MDrive42AC Plus uses a NEMA 42 frame size high torque brushless motor combined with a microstepping driver, and accepts up to 20 resolution settings from full to 256 microsteps per full step, including: degrees, metric and arc minutes. These settings may be changed on-the-fly or downloaded and stored in nonvolatile memory with the use of a simple GUI which is provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port.

For use in environments where exposure to dust and liquids may occur, a sealed MDrive42AC Plus Microstepping unit with circular connectors meets IP65 specifications.

The versatile MDrive42AC Plus Microstepping is available in multiple configurations to fit various system needs. Two rotary motor lengths are available as are optional: internal optical encoder; control knob for manual positioning; integrated planetary gearbox. Interface connections are accomplished using standard industrial connectors.

The MDrive42AC Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and assembly time for a large range of brushless motor applications.

Figure 1.3.1: MDrive42AC Plus Microstepping Integrated

Motor, Power Supply, and Drive Electronics

Configuring

The IMS Motor Interface software is an easy to install and use GUI for configuring the MDrive42AC Plus from a computer's USB port. GUI access is via the IMS SPI Motor Interface included on the CD shipped with the product, or from www.imshome.com. Optional cables are available for ease of connecting and configuring the MDrive.

The IMS SPI Motor Interface features:

 Easy installation. 

Automatic detection of MDrive version

 Will not set out-of-range values.  Tool-tips display valid range

setting for each option.

 Simple screen interfaces.

and communication configuration.

Features and Benefits

 Highly Integrated Microstepping Driver and NEMA 42 High Torque Brushless Motor  Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness Single Supply: 120 or 240 VAC  Low Cost  Extremely Compact

Part 1: Hardware Speciﬁcations

1-13

Page 22

 20 Microstep Resolutions up to    51,200 Steps Per Rev Including:

 Degrees, Metric, Arc Minutes

 Optically Isolated Logic Inputs will

 Accept +5 to +24 VDC Signals,

 Sourcing or Sinking Automatic Current Reduction Configurable:

 IP65 Sealed Configuration  3 Rotary Motor Lengths Available  Current and Microstep Resolution May Be Switched On-The-Fly  Interface Options:

 Circular 19-Pin M23  Circular 3-Pin Euro AC  Graphical User Interface (GUI) for Quick and Easy Parameter Setup

Quadrature, Step Up and Step Down

1-14

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 23

SECTION 1.4

MDrive42AC Plus Microstepping Detailed Specifications

Electrical Specifications

Input Voltage (+VAC) Range (120 VAC MDrive) 95 to 132 VAC @ 50/60 Hz Input Current (120 VAC MDrive) 5.6 A Maximum Input Voltage (+VAC) Range (240 VAC MDrive) 95 to 264 VAC @ 50/60 Hz Input Current (240 VAC MDrive) 2.8 A Maximum

Thermal Specifications

Heat Sink Temperature (non-condensing humidity) -40°C to +75°C Motor Temperature (non-condensing humidity) -40°C to +90°C

I/O Specifications

Isolated Inputs — Step Clock, Direction and Enable

Resolution 10 Bit Voltage Range (Sourcing or Sinking) +5 to +24 VDC Current (+5 VDC Max) 8.7 mA Current (+24 VDC Max) 14.6 mA

Communications Specifications

Protocol SPI

WARNING! Because the MDrive consists

of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See

Thermal Specications.

Motion Specifications

Microstep Resolution

Number of Resolutions 20

200 400 800 1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 51200 36000121600225400

1 = 0 . 0 1 d eg /µ st ep 2 =1 a rc m in ut e/ µs te p 3= 0. 00 1 mm /µ st ep

Digital Filter Range

Clock Types

Step Frequency (Max) 5.0 MHz

Step Frequency Minimum Pulse Width 100 nS

Motor Specifications

Single Length

Holding Torque 1147 oz-in/810 N-cm Detent Torque 35 oz-in/25 N-cm Rotor Inertia 0.0917 oz-in-sec2/6.5 kg-cm Weight (Motor + Driver) 14.07 lb/6.38 kg

Double Length

Holding Torque 2294 oz-in/1620 N-cm Detent Torque 84 oz-in/59 N-cm Rotor Inertia 0.1833 oz-in-sec2/13 kg-cm

Weight (Motor + Driver) 21.25 lb/9.64 kg

Available Microsteps Per Revolution

50 nS to 12.9 µS

(10 MHz to 38.8kHz)

Step/Direction,

Quadrature, Clock

Up/Clock Down

Part 1: Hardware Speciﬁcations

1-15

Page 24

Setup Parameters

MDriveAC Plus Microstepping Setup Parameters

Name Function Range Units Default

MHC Motor Hold Current 0 to 100 percent 5

MRC Motor Run Current 1 to 100 percent 25

1, 2, 4, 5, 8, 10, 16, 25, 32, 50,

MSEL Microstep Resolution

DIR Motor Direction Override 0/1 – CW

HCDT Hold Current Delay Time 0 or 2-65535 mSec 500

CLK TYPE Clock Type

CLK IOF Clock and Direction Filter

USER ID User ID 1-3 characters Viewable ASCII IMS

WARN TEMP Warning Temperature 0 to 125

EN ACT Enable Active State High/Low — High

64, 100,108, 125, 127,128,

180, 200, 250, 256

Step/Dir. Quadrature, Up/Down

(CW/CCW)

50 nS to 12.9 µS

(10 MHz to 38.8 kHz)

Table 1.4.1: Setup Parameters

µsteps per

full step

– Step/Dir

nS (MHz)

Degrees

Celsius

(2.5 MHz)

256

200 nS

1-16

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 25

Dimensions in inches (mm)

Motor Length LMAX1

(Single Shaft)

LMAX2

(Control Knob)

Single 7.4 (187.96)

9.4 (238.76)

Double 9.4 (2238.76)

11.4 (289.56)

Control Knob

Ø 1.90

(Ø 48.3)

Ø 0.87

(Ø 22.1)

Ø 0.87

(Ø 22.1)

Connectors

P1 19-Pin M23

P3 3-Pin Euro AC

0.75

(19.05)

0.059 (1.5)

0.49

(12.5)

2.17

(55.0)

1.375

(34.9)

MAX

MAX2

0.65

(16.51)

Ø 0.75

(Ø 19.05)

Ø 2.185

(Ø 55.5)

0.83

(21.08)

4.50

(114.3)

0.1875 (4.76)

6.75

(171.45)

7.4

(187.96)

0.335

(8.51)

3.0

(76.2)

4.331 SQ.

(110.0 SQ.)

3.50 SQ.

(88.88 SQ.)

Mechanical Specifications

Dimensions in Inches (mm)

Figure 1.4.1: MDrive42AC Plus Mechanical Specifications

Part 1: Hardware Speciﬁcations

1-17

Page 26

NEED A CABLE?

The following cordset is

available to interface to the 19-Pin M23 Connector:

Straight Termination

MD-CS100-000

Right Angle Termination

MD-CS-101-000

See Appendix E for details.

Pin Assignment and Description

P1 19-Pin M23 Connector - I/O and SPI Communications

Pin Assignment - P1 I/O and SPI Connections

Pin # Function Description

The signal applied to the Optocoupler Reference will

Pin 1 Opto Reference

Pin 2 Enable

Pin 3 N/C No Connect. Pin 4 N/C No Connect. Pin 5 N/C No Connect. Pin 6 N/C No Connect. Pin 7 N/C No Connect.

Pin 8 MOSI Master-Out/Slave-In. Carries output data from the SPI Master

Pin 9 CS

Pin 10 +5 VDC Output Supply voltage for the MD-CC300-000 Cable ONLY!

Pin 11 GND Communications Ground.

Pin 12 N/C No Connect.

Pin 13

Pin 14 N/C No Connect. Pin 15 N/C No Connect.

Pin 16 SPI Clock

Pin 17 MISO

Pin 18

Pin 19

Recommended

Cordset

MD-CS100-000 or

MD-CS101-000

Direction/Channel B/

Clock Down

Step Clock/Channel A/

Clock Up

Fault Output

determine the sinking/ or sourcing configuration of the inputs. To set the inputs for sinking operation, a +5 to +24 VDC supply is connected. If sourcing, the Reference is connected to Ground.

Enable/Disable Input will enable or disable the driver output to the motor. In the disconnected state the driver outputs are enabled in either sinking or sourcing configuration.

SPI Chip Select. This signal is used to turn communications on multiple MDM units on or off.

Direction input. The axis direction will be with respect to the state of the Direction Override Parameter. It may also receive quadrature and clock up type inputs if so configured.

The Clock is driven by the SPI Master. The clock cycles once for each data bit.

Master-In/Slave-Out. Carries output data from the MDM back to the SPI Master.

Step Clock input. The step clock input will receive the clock pulses which will step the motor 1 step for each pulse. It may also receive quadrature and clock up type inputs if so configured.

1-18

Table 1.4.2: P1- 19-Pin M23 Pin Assignment and Description

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 27

P1 19-Pin M23 Connector - I/O, SPI Communications with Encoder Interface Option

Pin Assignment - P1 I/O, SPI and Encoder Connections

Pin # Function Description

The signal applied to the Optocoupler Reference will

Pin 1 Opto Reference

Pin 2 Enable

Pin 8 MOSI Master-Out/Slave-In. Carries output data from the SPI Master

Pin 9 CS

Pin 10 +5 VDC Output Supply voltage for the MD-CC300-000 Cable ONLY!

Pin 11 GND Communications Ground.

Pin 12 N/C No Connect.

Pin 13

Pin 14 Index – Encoder Index – Output. Pin 15 Channel A – Encoder Channel A – Output.

Pin 16 SPI Clock

Pin 17 MISO

Pin 18

Pin 19

Recommended

Cordset

MD-CS100-000 or

MD-CS101-000

Direction/Channel B/

Clock Down

Step Clock/Channel A/

Clock Up

Fault Output

determine the sinking/ or sourcing configuration of the inputs. To set the inputs for sinking operation, a +5 to +24 VDC supply is connected. If sourcing, the Reference is connected to Ground.

Enable/Disable Input will enable or disable the driver output to the motor. In the disconnected state the driver outputs are enabled in either sinking or sourcing configuration.

SPI Chip Select. This signal is used to turn communications on multiple MDM units on or off.

Direction input. The axis direction will be with respect to the state of the Direction Override Parameter. It may also receive quadrature and clock up type inputs if so configured.

The Clock is driven by the SPI Master. The clock cycles once for each data bit.

Master-In/Slave-Out. Carries output data from the MDM back to the SPI Master.

Step Clock input. The step clock input will receive the clock pulses which will step the motor 1 step for each pulse. It may also receive quadrature and clock up type inputs if so configured.

Table 1.4.3: P1- 19-Pin M23 Pin Assignment and Description (Internal Optical Encoder)

Part 1: Hardware Speciﬁcations

1-19

Page 28

Pin 1

Pin 3

Pin 2

3-Pin Euro AC Connector

Pin 4

Pin 5

Pin 7

Pin 8

Pin 10

Pin 11

Pin 1

Pin 2

Pin 19

Pin 18

Pin 17

Pin 14

Pin 15

Pin 16

Outside: Pins 1 -12 Inside: Pins 13 - 19

Pin 3

Pin 12

Pin 6

Pin 9

Pin 13

NEED A CORDSET?

The following cordset is

available to interface to the 19-pin M23 Connector:

Straight Termination

MD-CS100-000

Right Angle Termination

MD-CS-101-000

See Appendix E for details.

Figure 1.4.2: P1 Connector, Power and I/O

NEED A

CORDSET?

The following

Euro AC Power

Cordset is

available:

Straight Termination

MD-CS200-000

Right Angle Termination

MD-CS-201-000

See Appendix E for details.

WARNING! Do not plug or unplug AC Power at the Motor with the power on!

Note: UL Recognition requires

the use of the MD-CS20x-000 or Lumberg Equivalent AC Power Cordset.

P3 Connector - AC Power

Pin Assignment - P3 AC Power

Euro AC Circular (Male) Function Description

Pin 1 Chassis Ground Chassis Ground of the system. Pin 2 AC Power Line AC Power Line. Pin 3 AC Power Neutral AC Power Neutral.

Table 1.4.4: P3 - AC Power

Figure 1.4.3: P3 3-Pin Euro AC Connector

1-20

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 29

Options and Accessories

Internal Encoder

Internal differential optical encoders are offered factory-installed with the MDrive42AC Plus Microstepping. Refer to the Encoder Specifications section for available line counts. All encoders come with an index mark, unless noted.

Control Knob

The MDrive42AC Plus is available with a factory-mounted rear control knob for manual shaft positioning. Not available with the Sealed (-65) version.

Parameter Setup Cable and Adapter

Cordsets

19-pin M23 single-ended cordsets are offered to speed prototyping of the MDrive34AC Plus. Measuring

13.0' (4.0m) long, they are available in either straight or right angle termination. PVC jacketed cables come with a foil shield and unconnected drain wire.

Straight Termination ........................................................................................... MD-CS100-000

Right Angle Termination ..................................................................................... MD-CS101-000

Part 1: Hardware Speciﬁcations

1-21

Page 30

mICROS TEPPING

Excellence in Motion

Part 2: Interfacing and Configuring

Section 2.1: Logic Interface and Connection

Section 2.2: Connecting SPI Communications

Section 2.3: Using the IMS SPI Motor Interface

Section 2.4: Using User-Deﬁned SPI

Part 2: Interfacing and Conﬁguring

2-1

Page 31

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SECTION 2.1

Opto Ref.

Step Clock

Direction

Enable

Power

Microstep

Driver

Enhanced

Torque

Stepping

Motor

MDriveACPlus Intergrated

Motor and Microstep Driver

ØA

ØB

Pin 1: Optocoupler Reference

Optocoupler Reference: Violet Enable: Red Direction: Yellow/Brown Step Clock: Gray/Brown

Pin 2: Enable

Pin 13: Direction

Pin 18: Step Clock

P1: I/O

MD-CS10x-000 Wire Color Reference

Inputs Configured as Sinking

+5 to +24VDC

Inputs Configured as Sourcing

Controller I/O

Ground

Logic Interface and Connection

Optically Isolated Logic Inputs

The MDriveAC Plus Microstepping has three optically isolated logic inputs which are located on connector P1. These inputs are isolated to minimize or eliminate electrical noise coupled onto the drive control signals. Each input is internally pulled-up to the level of the optocoupler supply and may be connected to sinking or +5 to +24 VDC sourcing outputs on a controller or PLC. These inputs are:

1] Step Clock (SCLK)/Quadrature (CH A)/Clock UP

2] Direction (DIR)/Quadrature (CH B)/ Clock DOWN

3] Enable (EN)

Of these inputs only step clock and direction are required to operate the MDriveAC Plus Microstepping.

Figure 2.2.1: MDriveAC Plus Microstepping Block Diagram

Isolated Logic Input Pins and Connections

The following diagram illustrates the pins and connections for the MDriveAC Plus Microstepping family of products. Careful attention should be paid to verify the connections on the model MDriveAC Plus Microstepping you are using.

Part 2: Interfacing and Conﬁguring

Figure 2.1.1: Isolated Logic Pins and Connections

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Isolated Logic Input Characteristics

Step Clock

Direction

Channel A

Channel B

CCW

Step/Direction Function

Quadrature Function

Up/Down Function

Enable Input

This input can be used to enable or disable the driver output circuitry. Leaving the enable switch open (Logic HIGH, Disconnected) for sinking or sourcing configuration, the driver outputs will be enabled and the step clock pulses will cause the motor to advance. When this input switch is closed (Logic LOW) in both sinking and sourcing configurations, the driver output circuitry will be disabled. Please note that the internal sine/cosine position generator will continue to increment or decrement as long as step clock pluses are being received by the MDriveAC Plus Microstepping.

Clock Inputs

The MDriveAC Plus Microstepping features the ability to configure the clock inputs based upon how the user will desire to control the drive. By default the unit is configured for the Step/Direction function.

Step Clock

The step clock input is where the motion clock from your control circuitry will be connected. The motor will advance one microstep in the plus or minus direction (based upon the state of the direction input) on the rising edge of each clock pulse. The size of this increment or decrement will depend on the microstep resolution setting.

Direction

The direction input controls the CW/CCW direction of the motor. The input may be configured as sinking or sourcing based upon the state of the Optocoupler Reference. The CW/CCW rotation, based upon the state of the input may be set using the IMS Motor Interface software included with the MDriveAC Plus Microstepping.

Quadrature

The Quadrature clock function would typically be used for following applications where the MDriveAC Plus Microstepping would be slaved to an MDriveAC Plus MicroDrive Motion Control (or other controller) in an electronic gearing application.

Up/Down

The Up/Down clock would typically be used in a dualclock direction control application. This function is also labled CW/CCW in the SPI Motor Interface software.

Input Timing

The direction input and the microstep resolution inputs are internally synchronized to the positive going edge of the step clock input. When a step clock pulse goes HIGH, the state of the direction input and microstep resolution settings are latched. Any changes made to the direction and/or microstep resolution will occur on the rising edge of the step clock pulse following this change. Run and Hold Current changes are updated immediately. The following figure and table list the timing specifications.

Figure 2.1.2: Input Clock Functions

Input Filtering

The clock inputs may also be filtered using the Clock IOF pull down of the IMS SPI Motor Interface. The filter range is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz).

The configuration parameters for the input filtering is covered in detail in Section 2.4: Configuring the MDriveAC Plus Microstepping.

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DSU

Direction

Step

CHL

Channel

Channel B

Direction Change

Step Up

Step Down

STEP/DIRECTION TIMING

QUADRATURE TIMING

UP/DOWN (CW/CCW) TIMING

Symbol Parameter

DSU

CHL

SMAX

CHMAX

—

T Direction Set Up 0 — — nS min

T Direction Hold 50 — — nS min

T Step High 250 250 — nS min

T Step Low 250 250 — nS min

T Direction Change — 250 250 nS min

T Channel High/Low — — 400 nS min

F Step Maximum 5 2 — MHz Max

F Channel Maximum — — 1.25 MHz Max

F Edge Rate — — 5 MHz Max

Parameter Turn On Turn Off µS

Enable On/Off 25 20 µS

Figure 2.1.3: Clock Input Timing Characteristics

Clock Input Timing

Type and Value

Step/Direction Step Up/Down Quadrature Units

Part 2: Interfacing and Conﬁguring

Table 2.1.1: Input Clocks Timing Table

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NOTE: When

Constant

Current Source

Optocoupler

+5 VDC

To Drive Logic

Optocoupler

Reference

Input

(Step Clock,

Direction, Enable)

MDriveACPlus

Microstepping

connecting the Optocoupler Supply,

it is recommended that you do not use MDriveAC Plus Power Ground as Ground as this will defeat the optical isolation.

Optocoupler Reference

The MDriveAC Plus Microstepping Logic Inputs are optically isolated to prevent electrical noise being coupled into the inputs and causing erratic operation.

There are two ways that the Optocoupler Reference will be connected depending whether the Inputs are to be configured as sinking or sourcing.

Optocoupler Reference

Input Type Optocoupler Reference Connection

Sinking +5 to +24 VDC

Sourcing Controller Ground

Table 2.1.2: Optocoupler Reference Connection

Figure 2.1.4: Optocoupler Input Circuit Diagram

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+5 to +24VDC

Optocoupler Reference

Input

Controller Output

Controller Ground

+5 to +24VDC

Optocoupler Reference

Input

Controller Output

Controller Ground

NPN Open Collector Interface

(Sinking)

PNP Open Collector Interface

(Sourcing)

MDriveACPlus Microstepping

Input Connection Examples

The following diagrams illustrate possible connection/application of the MDriveAC Plus Microstepping Logic Inputs.

Open Collector Interface Example

Figure 2.1.5: Open Collector Interface Example

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Switch Interface Example

Switch Interface

(Sinking)

Switch Interface

(Sourcing)

+5 to +24VDC

Optocoupler Reference

Enable Input

SPST

Switch

GND

Enable Input

+5 to +24VDC

Optocoupler Reference

GND

SPST

Switch

Enable Input

MDriveACPlus Microstepping

Fault (Temperature Warning) Output

The MDriveAC Plus Microstepping features an Open-Drain Fault output located at Pin 19 of connector P1. This is an impending over-temperature and over-temperature fault.

When the internal temperature of the MDriveAC Plus reaches the temperature specified by the WARN_TEMP parameter, the output will pulse at 1 second intervals (1/2 second on, 1/2 second off). When an over-temperature fault state is reached the output will latch on.

The output will remain in the latched condition until a power cycle, or new parameter set from the IMS SPI Motor Interface.

Input Type Open Drain

Drain-Source Voltage +5 to +24 VDC

Drain Current 50 mA

Figure 2.1.6: Switch Interface Example

Fault Output

Table 2.1.3: Fault Output Specifications

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Pin 1: Optocoupler Reference*

Pin 1: Earth (Chassis) Ground

Pin 2: AC Line

Pin 3: AC Neutral

Pin 18: Step Clock

Pin 13: Direction

P3: AC Power

P1: I/O

{

MD-CS200-000

Lumberg

Equivalent

*Optocoupler Reference = +5 to +24 VDC: Sinking Inputs *Optocoupler Reference = GND: Sourcing Inputs

+5 to +24 VDC

Current Limiting Resistor

P1: Pin 19 - Fault Output

P1: Pin 11 - Comm Ground

P1: I/O

LED

Pin 19

Figure 2.1.7: Fault Output interfaced to an LED

Minimum Required Connections

The connections shown are the minimum required to operate the MDriveAC Plus Microstepping. These are illustrated in both Sinking and Sourcing Configurations. Please reference the Pin Configuration diagram and Specification Tables for the MDriveAC Plus Microstepping connector option you are using.

Figure 2.1.8 Minimum Required Connections

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SECTION 2.2

Connecting SPI Communications

Connecting the SPI Interface

The SPI (Serial Peripheral Interface) is the communications and configuration interface.

For prototyping we recommend the purchase of the parameter setup cable MD-CC300-000. Use of this cable requires the adapter MDADP-M23.

For more information on prototype development cables, please see Appendix: E: Prototype Development Cables.

SPI Signal Overview

+5 VDC (Output)

This output is a voltage supply for the setup cable only. It is not designed to power any external devices.

SPI Clock

The Clock is driven by the Master and regulates the flow of the data bits. The Master may transmit data at a variety of baud rates. The Clock cycles once for each bit that is transferred.

Figure 2.2.1: MD-CC300-000 Parameter Setup Cable

Logic Ground

This is the ground for all Communications.

MISO (Master In/Slave Out)

Carries output data from the MDriveAC Plus Microstepping units back to the SPI Master. Only one MDriveAC Plus MicroDrive can transmit data during any particular transfer.

CS (SPI Chip Select)

This signal is used to turn communications to multiple MDriveAC Plus Microstepping units on or off.

MOSI (Master Out/Slave In)

Carries output data from the SPI Master to the MDriveAC Plus Microstepping.

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SPI Master

SPI Clock

MOSI

MISO

SPI Clock

MOSI

MISO

CS1

CS2

SPI Master

MDriveACPlus

Microstepping

MDriveACPlus

Microstepping

MDriveACPlus

Microstepping

SPI Pins and Connections

P1: I/O

COMM GND

+5 VDC OUT

CHIP SELECT

MASTER IN/SLAVE OUT

SPI CLOCK

MASTER OUT/SLAVE IN

2 3 4

PC Parallel/SPI Port

For Use ONLY

with IMS Parameter

Setup Cable

Figure 2.2.2: SPI Pins and Connections, 10-Pin IDC

SPI Master with Multiple MDriveAC Plus Microstepping

It is possible to link multiple MDriveAC Plus Microstepping units in an array from a single SPI Master by wiring the system and programming the user interface to write to multiple chip selects.

Each MDriveAC Plus on the bus will have a dedicated chip select. Only one system MDriveAC Plus can be communicated with/ Parameters changed at a time.

Part 2: Interfacing and Conﬁguring

Figure 2.2.4: SPI Master with a Single MDriveAC Plus Microstepping

Figure 2.2.5: SPI Master with Multiple MDriveAC Plus Microsteppings

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SECTION 2.3

Using the IMS SPI Motor Interface

Installation

The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDriveAC Plus Microstepping. It is available both on the CD that came with your product and on the IMS web site at http:// www.imshome.com/software_interfaces.html.

1. Insert the CD into the CD Drive of your PC. If not available, go to http://www.imshome.com/software_interfaces.html.

2. The CD will auto-start.

3. Click the Software Button in the top-right navigation Area.

4. Click the IMS SPI Interface link appropriate to your operating system.

5. Click SETUP in the Setup dialog box and follow the on-screen instructions.

6. Once IMS SPI Motor Interface is installed, the MDriveAC Plus Microstepping settings can be checked and/or set.

Configuration Parameters and Ranges

MDriveAC Plus Microstepping Setup Parameters

Name Function Range Units Default

MHC Motor Hold Current 0 to 100 percent 5

MRC Motor Run Current 1 to 100 percent 25

MSEL

DIR

HCDT

CLK TYPE Clock Type

CLK IOF

USER ID User ID Customizable 1-3 characters IMS

WARNTEMP

Microstep

Resolution

Motor Direction

Override

Hold Current Delay

Time

Clock and Direction

Filter

Warning

Temperature

1, 2, 4, 5, 8, 10, 16, 25, 32, 50,

64, 100,108, 125, 127,128,

180, 200, 250, 256

0/1 – CW

0 or 2-65535 mSec 500

Step/Dir. Quadrature, Up/Down

(CW/CCW)

50 nS to 12.9 µS

(10 MHz to 38.8kHz)

0 to 125 Degrees Celsius 80

µsteps per

full step

– Step/Dir

nS (MHz)

256

50nS (10

MHz)

2-12

Table 2.3.1: Setup Parameters and Ranges

Color Coded Parameter Values

The SPI Motor Interface displays the parameter values using a predefined system of color codes to identify the status of the parameter.

Black: the parameter settings currently stored in the device NVM will display as black.

Blue: Blue text indicates a changed parameter setting that has not yet been written to the device.

Red: Red text indicates an out-of-range value which cannot be written to the device. When an out-of-range parameter is entered into a field, the "set" button will disable, preventing the value to be written to NVM. To view the valid parameter range, hover the mouse pointer over the field. The valid range will display in a tool tip.

MDriveAC Plus Microstepping Hardware - Revision R031808

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Red: Out of Range Value. The Set Button will disable as the the Motor Interface will not allow an out of range value to be stored.

Blue: New Value which has not yet been set to NVM.

Black: This is the value Currently Stored in NVM

Figure 2.3.1: SPI Motor Interface Color Coding

Perform File

Operation

Open Motor Settings

File (*.mot)

Save Motor Settings

Save Motor Settings As

Exit the Motor Interface

View Settings

Screen

Motion Settings Screen

I/O Settings Screen

Read-Only Part

and Serial Number Screen

The color coding is illustrated in Figure 2.3.1.

IMS SPI Motor Interface Menu Options

File

> Open: Opens a saved *.mot (Motor Settings) file.

> Save: Saves the current motor settings as a *.mot file for later re-use

> Save As

Figure 2.3.2: SPI Motor Interface File Menu

> Exit - Disconnects from the device and opens the Initialization Dialog.

View

> Motion Settings: Displays the Motion Settings screen

> IO Settings: Displays the IO Settings Screen

> Part and Serial Number: Displays the part and serial number

Part 2: Interfacing and Conﬁguring

Figure 2.3.3: SPI Motor Interface View Menu

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Recall!

Recall Last Stored

Parameter Settings

Toggle MForce into

Upgrade Mode for

Firmware Upgrade

Links to the Software

Tutorial page of the

IMS Website

Retrieves the settings from the MDriveAC Plus Microstepping.

Figure 2.3.4: SPI Motor Interface Recall Menu

Upgrade!

Upgrades the MDriveAC Plus Microstepping firmware by placing the device in Upgrade Mode and launching the firmware upgrader utility.

Figure 2.3.5: SPI Motor Interface Upgrade Menu

Help

> IMS Internet Tutorials: Link to an IMS Web Site page containing Interactive flash tutorials.

> About: Opens the About IMS and IMS SPI Motor Interface Screen.

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Figure 2.3.6: SPI Motor Interface Help Menu and About Screen

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Screen 1: The Motion Settings Configuration Screen

Load Factory

Default Settings

Exit Program

Store Settings

to NVM

Three Character

User ID

Microstep Resolution

Selection

Holding Current

Delay Time

Direction Override

Motor Run Current

Motor Holding Current

Fault/Checksum Error

Figure 2.3.7: SPI Motor Interface Motion Settings Screen

The IMS SPI Motor Interface Software opens by default to the Motion Settings Screen shown on the left.

There are six basic parameters that may be set here:

1. MSEL: Microstep Resolution Select.

2. HCDT: Holding Current Delay Time.

3. MRC: Motor Run Current

4. Motor Holding Current

5. User ID: 3-character ID

6. Direction Override: Allows the user to set the CW/CCW direction of the motor in relation to the Direction Input from the SPI Motor Interface.

MSEL (Microstep Resolution Selection)

The MDriveAC Plus Microstepping features 20 microstep resolutions. This setting specifies the number of microsteps per step the motor will move.

The MDriveAC Plus MicroDrive uses a 200 step (1.8°) stepping motor which at the highest (default) resolution of 256 will yield 51,200 steps per revolution of the motor shaft.

See Table 2.3.2 for available Microstep Resolutions.

MS=<µSteps/Step> Steps/Revolution MS=<µSteps/

Part 2: Interfacing and Conﬁguring

Microstep Resolution Settings

Binary µStep Resolution Settings Decimal µStep Resolution Settings

Steps/Revolution

Step>

1 200 5 1000

2 400 10 2000

4 800 25 5000

8 1600 50 10000

16 3200 100 20000

32 6400 125 25000

64 12800 200 40000

128 25600 250 50000

256 51200

Additional Resolution Settings

180 36000 (0.01°/µStep)

108 21600 (1 Arc Minute/µStep)

127 25400 (0.001mm/µStep)

Table 2.3.2: Microstep Resolution Settings

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WARNING! The Maximum Allowable Setting is 67% Run Current

for 2.0 Amps RMS!

HCDT (Hold Current Delay Time)

The HCDT Motor Hold Current Delay sets time in milliseconds for the Run Current to switch to Hold Current when motion is complete. When motion is complete, the MDriveAC Plus Microstepping will reduce the current in the windings of the motor to the percentage specified by MHC when the specified time elapses.

MRC (Motor Run Current)

The MRC Motor Run Current parameter sets the motor run current to a percentage of the full output current of the MDriveAC Plus driver section.

MHC (Motor Hold Current)

The MHC parameter sets the motor holding current as a percentage of the full output current of the driver. If the hold current is set to 0, the output circuitry of the driver section will disable when the hold current setting becomes active. The hold current setting becomes active HCDT setting mS following the last clock pulse.

DIR (Motor Direction)

The DIR Motor Direction parameter changes the motor direction relative to the direction input signal, adapting the direction of the MDriveAC Plus MicroDrive to operate as your system expects.

User ID

The User ID is a three character (viewable ASCII) identifier which can be assigned by the user. Default is IMS.

IMS SPI Motor Interface Button Functions

The following appear on all of the IMS SPI Motor Interface screens, but will only be documented here.

Factory

Clicking the Factory button will load the MDriveAC Plus Microstepping unit's factory default settings into the IMS SPI Motor Interface.

Connected/Disconnected Indicator

Displays the connected/disconnected state of the software , and if connected, the port connected on.

Set

Set writes the new settings to the MDriveAC Plus . Un-set settings will display as blue text in the setting fields. Once set they will be in black text. Setting the Parameters will also clear most Fault Conditions.

Exit

Disconnects and opens the Initialization dialog.

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Screen 2: I/O Settings Configuration Screen

Input Clock Type

(Step/Dir, Quadrature or

Up/Down)

Input Clock Filter

Active High/Low State of the Enable Input

Warning Temperature

The I/O Settings screen may be accessed by clicking View > IO Settings on the menu bar. This screen is used to configure the Input Clock type, the filtering and the Active High/Low State of the Enable Input.

Input Clock Type

The Input Clock Type translates the specified pulse source that the motor will use as a reference for establishing stepping resolution based on the frequency.

Figure 2.3.8: SPI Motor Interface I/O Settings Screen

The three clock types supported are:

1. Step/Direction

2. Quadrature

3. Up/Down (CW/CCW)

The Clock types are covered in detail in Section 2.2: Logic Interface and Connection.

Input Clock Filter

The clock inputs may also be filtered using the Clock IOF pull down of the IMS SPI Motor Interface. The filter range is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz). Table 2.4.3 shows the filter settings.

Enable Active High/Low

The parameter sets the Enable Input to be Active when High (Default, Disconnected) or Active when Low.

Warning Temperature

The Warning Temperature parameter allows you to set a pending over-temperature threshold for the MDriveAC Plus Microstepping. When that threshold is reached, a "TW" error code will appear in the Fault field. The Fault output will also begin to activate/deactivate at 1 second intervals (1/2 second on, 1/2 second off).

Input Clock Filter Settings

Min Pulse Cutoff Frequency

50 nS 10 MHz

150 nS 3.3 MHz

200 nS 2.5 MHz

300 nS 1.67 MHz

500 nS 1.0 MHz

900 nS 555 kHz

1.7 µS 294.1 kHz

3.3 µS 151 kHz

6.5 µS 76.9 kHz

12.9 µS 38.8 kHz

Table 2.3.4: Input Clock Filter Settings

Part 2: Interfacing and Conﬁguring

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IMS Part Number/Serial Number Screen

IMS Part #

IMS Serial Number

The IMS Part Number and Serial Number screen is accessed by clicking "View > Part and Serial Numbers".

This screen is read-only and will display the part and serial number, as well as the fault code if existing. IMS may require this information if calling the factory for support.

Figure 2.3.9: SPI Motor Interface Part and Serial Number Screen

Fault Indication

All of the IMS SPI Motor Interface Screens have the Fault field visible. This read-only field will display a 2 character error code to indicate the type of fault. The table below shows the error codes.

MDriveAC Plus Microstepping Fault Codes

Binary Case*

— None No Fault — —

4 CS SPI Checksum Error

8 SC/CS

16 DFLT

32 DATA

64 TW Temperature Warning

Error Code

Description Action To Clear

SPI Checksum Error/

Sector Changing

Defaults Checksum

Error

Settings Checksum

Error

*All Fault Codes are OR'ed together

Error

Displayed

Error

Displayed

Error

Displayed

Error

Displayed

Error

Displayed

Write to MFM

(Set Button)

Write to MFM

(Set Button)

Write to MFM

(Set Button)

Write to MFM

(Set Button)

Write to MFM

(Set Button)

Table 2.3.5: MDriveAC Plus Microstepping Fault Codes

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Upgrading the Firmware in the MDriveAC Plus Microstepping

The IMS SPI Upgrader Screen

New firmware releases are posted to the IMS web site at http://www.imshome.com.

The IMS SPI Motor Interface is required to upgrade your MDriveAC Plus Microstepping product. To launch the Upgrader, click "Upgrade!" on the IMS SPI Motor Interface menu.

The Upgrader screen has 4 read-only text fields that will display the necessary info about your MDriveAC Plus Microstepping.

NOTE: Once entered into Upgrade Mode, you MUST complete

the upgrade. If the upgrade process is incomplete the IMS SPI Motor Interface will continue to open to the Upgrade dialog until the process is completed!

Figure 2.3.10: SPI Motor Interface Upgrade Utility

1. Previous Version: this is the version of the firmware currently on your MDriveAC Plus Microstepping.

2. Serial Number: the serial number of your unit.

3. Upgrade Version: will display the version number of the firmware being installed.

4. Messages: the messages text area will display step by step instructions through the upgrade process.

Upgrade Instructions

Below are listed the upgrade instructions as they will appear in the message box of the IMS SPI Upgrader. Note that some steps are not shown as they are accomplished internally, or are not relevant to the model IMS product you are updating. The only steps shown are those requiring user action.

Welcome Message: Welcome to the Motor Interface UPGRADER! Click NEXT to continue.

Step 2: Select Upgrade File

When this loads, an explorer dialog will open asking you to browse for the firmware upgrade file. This file will have the extension *.ims.

Step 3: Connect SPI Cable Step 4: Power up or Cycle Power to the MDriveAC Plus Step 6: Press Upgrade Button

Progress bar will show upgrade progress in blue, Message box will read "Resetting Motor Interface"

Step 8: Press DONE, then select Port/Reconnect.

Part 2: Interfacing and Conﬁguring

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Initialization Screen

Communications

Port Operations

Select Parallel

(LPT) Port

Select Serial or

USB (VCP)

Auto-seek Port

and Reconnect

to device

This screen will be active under five conditions:

When the program initially starts up and seeks for a compatible device.

The User selects File > Exit when connected to the device.

The User clicks the Exit button while connected to the device.

The Upgrade Process completes.

The SPI Motor Interface is unable to connect to a compatible device.

Figure 2.3.11: SPI Motor Interface Initialization

Port Menu

The Port Menu allows the user to select the COM Port that the device is connected to, either a parallel (LPT) Port, or a Hardware Serial or Virtual Serial Port via USB.

The Reconnect option allows the user to reconnect to a unit using the previously used settings.

On open or reconnect, the SPI Motor Interface will also try to auto seek for a connected device.

Figure 2.3.12: SPI Motor Interface Port Menu

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SECTION 2.4

Using User-Deﬁned SPI

The MDriveAC Plus can be configured and operated through the end-user's SPI interface without using the IMS SPI Motor Interface software and optional parameter setup cable.

An example of when this might be used is in cases where the machine design requires parameter settings to be changed on-the-fly by a software program or multiple system MDriveAC Plus Microstepping units parameter states being written/read.

SPI Timing Notes

1. MSb (Most Significant bit) first and MSB (Most Significant Byte) first.

2. 8 bit bytes.

3. 25 kHz SPI Clock (SCK).

4. Data In (MOSI) on rising clock.

5. Data Out (MISO) on falling clock.

Figure 2.4.1: SPI Timing

Check Sum Calculation for SPI

The values in the example below are 8-bit binary hexadecimal conversions for the following SPI parameters: MRC=25%, MHC=5%, MSEL=256, HCDT=500 mSec, WARNTEMP=80.

The Check Sum is calculated as follows: (Hex) 80+19+05+00+00+01+F4+50

Sum = E3 1110 0011

1’s complement = 1C 0001 1100 (Invert)

2’s complement = 1D 0001 1101 (Add 1)

Send the check sum value of 1D Note: 80 is always the first command on a write.

Note: Once a write is performed, a read needs to be performed to see if there is a fault. The fault is the last byte of the read.

Part 2: Interfacing and Conﬁguring

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SPI Commands and Parameters

Use the following table and figure found on the following page together as the Byte order read and written from the MDriveAC Plus Microstepping, as well as the checksum at the end of a WRITE is critical.

SPI Commands and Parameters

Command/

Parameter

READ ALL 0x40 — Reads the hex value of all parameters

MSB Device (M) 0x4D — M Character precedes every READ

Version_MSB 0x10 <1-8>.<0-9> Firmware Version.Sub-version, eg 1.0

Version_LSB 0x00 <0-99>

USR_ID1 0x49 — Uppercase Letter <I>

USR_ID2 0x4D — Uppercase Letter <M>

USR_ID3 0x53 — Uppercase Letter <S>

MRC 0x19 1-67% Motor Run Current

MHC 0x05 0-67% Motor Hold Current

MSEL 0x00

DIR_OVRID 0x00

HCDT_HI 0x01

HCDT_LO 0xF4 Hold Current Delay Time Low Byte

CLKTYP 0x00

CLKIOF 0x00 <0-9> Clock Input Filtering

WARNTEMP 0x50 OVER_TEMP - 5° C

EN_ACT 0x00 0=High 1=low, Enable Active High/Low

LSB FAULT 0x00 — See Fault Table, Section 2.4

WRITE ALL 0x80 —

MSB USR_ID1 0x49 — Uppercase Letter <I>

USR_ID2 0x4D — Uppercase Letter <M>

USR_ID3 0x53 — Uppercase Letter <S>

MRC 0x19 1-100% Motor Run Current

MHC 0x05 0-100% Motor Hold Current

MSEL 0x00

DIR_OVRID 0x00

HCDT_HI 0x01

HCDT_LO 0xF4 Hold Current Delay Time Low Byte

CLKTYP 0x00

CLKIOF 0x00 <0-9> Clock Input Filtering

WARNTEMP 0x50 OVER_TEMP - 5° C

EN_ACT 0x01

LSB CKSUM 34

HEX

(Default)

Range Notes

Firmware Version Appends to Version_

0*, 1-259

*0=256

0=no override 1=override dir

0 or 2-65535

0=s/d,

1=quad,

2=u/d

0*, 1-259

*0=256

0=no override 1=override dir

0 or 2-65535

0=s/d,

1=quad,

2=u/d

0=Low

1=High

Microstep Resolution (See Table in Section

2.4 for settings)

Direction Override

Hold Current Delay Time High Byte

Input Clock Type

Writes the hex value to the following

Microstep Resolution (See Table in Section

2.4 for settings)

Direction Override

Hold Current Delay Time High Byte

Input Clock Type

Enable Active High/Low

MSB, eg.00

parameters.

2-22

Table 2.4.1: SPI Commands and Parameters

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 52

RNTEMP CLKIOF CLKTYP HCDT_LO HCDT_HI DIR_OVRID MSEL MHC MRC USR_ID3 USR_ID2 USR_ID1 VERSION DEVICE

80 0 0

0 256 5 25 S M I

1.0.00 M

104D00

50 01

500

00 00

FAULT EN_ACT

RESPONSE (MISO):

WRITE (MOSI):

READ ALL CMD

CHECKSUM CALCULATION

80+49+4D+53+19+05+00+00+01+F4+00+00+50+01=CD

BINARY = 1100 1101

1'S COMPLEMENT = 0011 0010

2'S COMPLEMENT = 0011 0011

DEC = 51

HEX = 33

MRC MHC MSEL DIR_OVRID

HCDT_HI HCDT_LO CLKTYP CLKIOF WA

RNTEMP EN_ACT CKSUM

0 0 80 00 51

0001000150

FFFFFFFFFFFFFFFFFF

500

25 5 256 0

USR_ID1 USR_ID2 USR_ID3

I M S

494D53

05 00

RESPONSE (MISO):

WRITE (MOSI):

WRITE ALL CMD

SPI Communications Sequence

See Timing Diagram and Byte Order figures.

Figure 2.4.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown)

READ

1. Send READ ALL Command 0x40 down MOSI to MDriveAC Plus Microstepping followed by FF (15 Bytes).

2. Receive Parameter settings from MISO MSB First (M-Device) and ending with LSB (Fault).

Write

1. Send WRITE ALL Command (0x80) down MOSI followed by Parameter Bytes beginning with MSB (MRC) and ending with the LSB (Checksum of all parameter Bytes).

2. Response from MISO will be FF (10) Bytes.

Part 2: Interfacing and Conﬁguring

2-23

Page 53

Page Intentionally Left Blank

2-24

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 54

mICROS TEPPING

Excellence in Motion

Appendices

Appendix A: MDriveAC Plus Microstepping Motor Performance

Appendix B: Gear Boxes

Appendix C: Optional Cables and Cordsets

Appendix D: Interfacing an Encoder

Appendices

A-1

Page 55

Page Intentionally Left Blank

A-2

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 56

appendix A

300

400

500

600

200

100

Torque – Oz - In

Torque in N - cm

212

283

354

424

141

Speed – Full Steps/Second (RPM)

0 2000

(600)

4000

(1200)

6000

(1800)

10000

(3000)

8000

(2400)

700 495

Triple Motor Length Double Motor Length Single Motor Length

300

400

500

600

200

100

Torque – Oz - In

Torque in N - cm

212

283

354

424

141

Speed – Full Steps/Second (RPM)

0 2000

(600)

4000

(1200)

6000

(1800)

10000 (3000)

8000

(2400)

700 495

Triple Motor Length Double Motor Length Single Motor Length

MDriveAC Plus Microstepping Motor Performance

MDrive34AC Plus Microstepping

Speed-Torque Curves

MDrive34AC – 120VAC

Figure A.1: MDrive34AC Plus 120VAC Microstepping Speed-Torque Curves

MDrive34AC – 240VAC

Figure A.2: MDrive34AC Plus 240VAC Microstepping Speed-Torque Curves

Motor Specifications

Single Length

Holding Torque ............................................................................................... 330 oz-in/233 N-cm

Detent Torque ................................................................................................. 10.9 oz-in/7.7 N-cm

Rotor Inertia ...................................................................................0.01416 oz-in-sec2/1.0 kg-cm

Weight (Motor + Driver) ............................................................................................. 6.4 lb/2.9 kg

Appendices

A-3

Page 57

Double Length

600

800

1000

1200

400

200

Torque in Oz-In

Torque in N-cm

424

565

706

847

282

141

Speed – Full Steps/Second (RPM)

0 2000

(600)

4000

(1200)

6000

(1800)

10000 (3000)

8000

(2400)

1400

1600

1800

989

1130

1271 Double Motor Length Single Motor Length

600

800

1000

1200

400

200

Torque in Oz-In

Torque in N-cm

424

565

706

847

282

141

Speed in full steps per second (RPM)

0 2000

(600)

4000

(1200)

6000

(1800)

10000

(3000)

8000

(2400)

1400

1600

1800

989

1130

1271 Double Motor Length Single Motor Length

Holding Torque ............................................................................................... 500 oz-in/353 N-cm

Detent Torque ............................................................................................. 14.16 oz-in/14.0 N-cm

Rotor Inertia ...................................................................................0.02266 oz-in-sec2/1.6 kg-cm

Weight (Motor + Driver) ............................................................................................. 7.7 lb/3.5 kg

Triple Length

Holding Torque ............................................................................................... 750 oz-in/529 N-cm

Detent Torque ............................................................................................. 19.83 oz-in/10.0 N-cm

Rotor Inertia ...................................................................................0.04815 oz-in-sec2/3.4 kg-cm

Weight (Motor + Driver) ........................................................................................... 11.0 lb/5.0 kg

MDrive42AC Plus Microstepping

Speed-Torque Curves

MDrive42AC – 120VAC

A-4

MDrive42AC – 240VAC

Figure A.3: MDrive42AC Plus 120VAC Microstepping Speed-Torque Curves

Figure A.4: MDrive42AC Plus 240VAC Microstepping Speed-Torque Curves

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 58

Motor Specifications

Single Length

Holding Torque ............................................................................................. 1147 oz-in/810 N-cm

Detent Torque ..................................................................................................... 35 oz-in/25 N-cm

Rotor Inertia .....................................................................................0.0917 oz-in-sec2/6.5 kg-cm

Weight (Motor + Driver) ....................................................................................... 14.07 lb/6.38 kg

Double Length

Holding Torque ........................................................................................... 2294 oz-in/1620 N-cm

Detent Torque ..................................................................................................... 84 oz-in/59 N-cm

Rotor Inertia ......................................................................................0.1833 oz-in-sec2/13 kg-cm

Weight (Motor + Driver) ....................................................................................... 21.25 oz/9.64 kg

Appendices

A-5

Page 59

Appendix B

MDrive with Planetary Gearbox

Section Overview

This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox, and may include product sizes not relevant to this manual.

Shown are:

 Product Overview

 Selecting a Planetary Gearbox

 Mechanical Specications

Product Overview

All gearboxes are factory installed.

Mode of Function

Optional Planetary Gearbox operate as their name implies: the motor-driven sun wheel is in the center, transmitting its movement to three circumferential planet gears which form one stage. They are arranged on the bearing pins of a planet carrier. The last planet carrier in each sequence is rigidly linked to the output shaft and so ensures the power transmission to the output shaft. The planet gears run in an internally toothed outer ring gear.

Service Life

Depending on ambient and environmental conditions and the operational specification of the driving system, the useful service life of a Planetary Gearbox is up to 10,000 hours. The wide variety of potential applications prohibits generalizing values for the useful service life.

Lubrication

All Planetary Gearbox are grease-packed and therefore maintenance-free throughout their life. The best possible lubricant is used for our MDrive/Planetary Gearbox combinations.

Mounting Position

The grease lubrication and the different sealing modes allow the Planetary Gearbox to be installed in any position.

Operating Temperature

The temperature range for the Planetary Gearbox is between –30 and +140° C. However, the temperature range recommended for the Heat Sink of the MDrive is 0 to +85º C.

Overload Torque

The permitted overload torque (shock load) is defined as a short-term increase in output torque, e.g. during the start-up of a motor. In these all-metal Planetary Gearbox, the overload torque can be as much as

1.5 times the permitted output torque.

Available Planetary Gearbox

The following lists available Planetary Gearbox, diameter and corresponding MDrive.

Gearbox Diameter MDrive

81 mm MDrive34

105 mm or 120 mm MDrive42

Selecting a Planetary Gearbox

A-6

There are many variables and parameters that must be considered when choosing an appropriate reduction ratio for an MDrive with Planetary Gearbox. This Addendum includes information to assist in determining a

suitable combination for your application.

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 60

Calculating the Shock Load Output Torque (TAB)

Note: The following examples are based on picking “temporary variables” which may be adjusted.

The shock load output torque (TAB) is not the actual torque generated by the MDrive and Planetary Gearbox combination, but is a calculated value that includes an operating factor (CB) to compensate for any shock loads applied to the Planetary Gearbox due to starting and stopping with no acceleration ramps, payloads and directional changes. The main reason the shock load output torque (TAB) is calculated is to ensure that it does not exceed the maximum specified torque for a Planetary Gearbox.

Note: There are many variables that affect the calculation of the shock load output torque. Motor speed, motor voltage, motor torque and reduction ratio play an important role in determining shock load output torque. Some variables must be approximated to perform the calculations for the first time. If the result does not meet your requirements, change the variables and re-calculate the shock load output torque.

Use the equation compendium below to calculate the shock load output torque.

Factors

i = Reduction Ratio - The ratio of the Planetary Gearbox.

nM = Motor Speed - In Revolutions Per Minute (Full Steps/Second).

nAB = Output Speed - The speed at the output shaft of the Planetary Gearbox.

TN = Nominal Output Torque - The output torque at the output shaft of the Planetary

Gearbox.

TM = Motor Torque - The base MDrive torque. Refer to MDrive Speed Torque Tables.

 η = Gear Efﬁciency - A value factored into the calculation to allow for any friction in the

gears.

TAB = Shock Load Output Torque - A torque value calculated to allow for short term loads

greater than the nominal output torque.

CB = Operating Factor - A value that is used to factor the shock load output torque.

sf = Safety Factor - A 0.5 to 0.7 factor used to create a margin for the MDrive torque

requirement.

Note: The MDrive23 and the numbers and

values used in these examples have been chosen randomly for demonstration purposes. Be certain you obtain the correct data for the MDrive you have purchased.

Reduction Ratio

Reduction ratio (i) is used to reduce a relatively high motor speed (nM) to a lower output speed (nAB).

With: i = nM ÷ n

or: motor speed ÷ output speed = reduction ratio

Example:

The required speed at the output shaft of the Planetary Gearbox is 90 RPM.

You would divide motor speed (nM) by output speed (nAB) to calculate the proper gearbox ratio.

The MDrive speed you would like to run is approximately 2000 full steps/second or 600 RPM.

NOTE: In reference to the MDrive speed values, they are given in full steps/second on the Speed/Torque Tables. Most speed specifications for the Planetary Gearbox will be given in RPM (revolutions per minute). To convert full steps/second to RPM, divide by 200 and multiply by 60.

Where: 200 is the full steps per revolution of a 1.8° stepping motor.

2000 full steps/second ÷ 200 = 10 RPS (revolutions per second) × 60 Seconds = 600 RPM

For the Reduction Ratio (i), divide the MDrive speed by the required Planetary Gearbox output speed.

600 RPM ÷ 90 = 6.67:1 Reduction Ratio

Referring to the Available Ratio Table at the end of this section, the reduction ratio (i) of the Planetary Gearbox will be 7:1. The numbers in the left column are the rounded ratios while the numbers in the right column are the actual ratios. The closest actual ratio is 6.75:1 which is the rounded ratio of 7:1. The slight difference can be made up in MDrive speed.

Appendices

A-7

Page 61

Nominal Output Torque

140

120

100

0 1000 2000 3000 4000 5000 6000 7000

Speed in Full Steps per Second

orque in Oz - In

T orque in N - cm

24 VDC 45 VDC 75 VDC

Calculate the nominal output torque using the torque values from the MDrive’s Speed/Torque Tables.

Nominal output torque (TN) is the actual torque generated at the Planetary Gearbox output shaft which includes reduction ratio (i), gear efficiency (η) and the safety factor (sf) for the MDrive. Once the reduction ratio (i) is determined, the nominal output torque (TN) can be calculated as follows:

TN = TM × i × η÷ sf or:

Motor torque × reduction ratio × gear efficiency ÷ safety factor = nominal output torque.

For gear efficiency (η) refer to the Mechanical Specifications for the 7:1 Planetary Gearbox designed for your MDrive.

For motor torque (TM) see the appropriate MDrive Speed/Torque Table. Dependent on which MDrive you have, the torque range will vary. The torque will fall between the high voltage line and the low voltage line at the indicated speed for the MDrive. (See the example Speed/Torque Table below.)

A-8

Figure B.1: MDrive23 Torque-Speed Curve

The Speed/Torque Table above is for an MDrive23 Double Length Motor. This MDrive will produce a torque range of 51 to 95 oz-in in the full voltage range at the speed of 2000 Full Steps/Second (600 RPM).

Please note that this is not the usable torque range. The torque output to the Planetary Gearbox must include a safety factor (sf) to allow for any voltage and current deviations supplied to the MDrive.

The motor torque must include a safety factor (sf) ranging from 0.5 to 0.7. This must be factored into the nominal output torque calculation. A 0.5 safety factor is aggressive while a 0.7 safety factor is more conservative.

Example:

The available motor torque (TM) is 51 to 95 oz-in.

NOTE: You may specify a torque less than but not greater than the motor torque range.

For this example the motor torque (TM) will be 35 oz-in.

A 6.75:1 reduction ratio (i) has been determined.

Gear efficiency (η) = 80% from the appropriate table for the Planetary Gearbox which is used with an MDrive23.

Nominal output torque would be:

Motor torque (TM = 35) × reduction ratio (i = 6.75) ×gear efficiency (η = 0.8) ÷ safety factor (sf = 0.5 or 0.7)

35 × 6.75 = 236.25 × 0.8 = 189 ÷ 0.5 = 378 oz-in nominal output torque (TN)

35 × 6.75 = 236.25 × 0.8 = 189 ÷ 0.7 = 270 oz-in nominal output torque (TN)

With the safety factor (sf) and gear efficiency (η) included in the calculation, the nominal output torque (TN) may be greater than the user requirement.

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 62

Shock Load Output Torque

Determining the Operating Factor (CB)

Direction of

Rotation

Load

(Shocks)

Daily Operating Time

3 Hours 8 Hours 24 Hours

Constant Low* CB=1.0 CB=1.1 CB=1.3

Medium** CB=1.2 CB=1.3 CB=1.5

Alternating Low† CB=1.3 CB=1.4 CB=1.6

Medium†† CB=1.6 CB=1.7 CB=1.9

The nominal output torque (TN) is the actual working torque the Planetary Gearbox will generate. The shock load output torque (TAB) is the additional torque that can be generated by starting and stopping with no acceleration ramps, payloads, inertia and directional changes. Although the nominal output torque (TN) of the Planetary Gearbox is accurately calculated, shock loads can greatly increase the dynamic torque on the Planetary Gearbox.

Each Planetary Gearbox has a maximum specified output torque. In this example a 7:1 single stage MD23 Planetary Gearbox is being used. The maximum specified output torque is 566 oz-in. By calculating the shock load output torque (TAB) you can verify that value is not exceeding the maximum specified output torque.

When calculating the shock load output torque (TAB), the calculated nominal output torque (TN) and the operating factor (CB) are taken into account. CB is merely a factor which addresses the different working conditions of a Planetary Gearbox and is the result of your subjective appraisal. It is therefore only meant as a guide value. The following factors are included in the approximate estimation of the operating factor (CB):

  Direction of rotation (constant or alternating)

  Load (shocks)

  Daily operating time

Note: The higher the operating factor (CB), the closer the shock load output torque (TAB) will be to the maximum specified output torque for the Planetary Gearbox. Refer to the table below to calculate the approximate operating factor (CB).

With the most extreme conditions which would be a CB of 1.9, the shock load output torque (TAB) is over the maximum specified torque of the Planetary Gearbox with a 0.5 safety factor but under with a 0.7 safety factor.

The nominal output torque (TN) × the operating factor (CB) = shock load or maximum output torque (TAB).

With a 0.5 safety factor, the shock load output torque is greater than the maximum output torque specification of the MDrive23 Planetary Gearbox.

(378 × 1.9 = 718.2 oz-in.)

With a 0.7 safety factor the shock load output torque is within maximum output torque specification of the MDrive23 Planetary Gearbox.

(270 × 1.9 = 513 oz-in.)

The 0.5 safety factor could only be used with a lower operating factor (CB) such as 1.5 or less, or a lower motor torque.

Note: All published torque specifications are based on CB = 1.0. Therefore, the shock load output torque (TAB) = nominal output torque (TN).

WARNING! Excessive torque may damage your Planetary Gearbox. If the MDrive/Planetary Gearbox should hit an obstruction, especially at lower speeds (300 RPM or 1000 Full Steps/Second), the torque generated will exceed the maximum torque for the Planetary Gearbox. Precautions must be taken to ensure there are no obstructions in the system.

* Low Shock = Motor turns in one direction and has ramp up at start. ** Medium Shock = Motor turns in one direction and has no ramp up at start. † Low Shock = Motor turns in both directions and has ramp up at start. †† Medium Shock = Motor turns in both directions and has no ramp up at start.

Table B.1: Planetary Gearbox Operating Factor

Appendices

A-9

Page 63

System Inertia

Preload on

leadscrew

Weight of

table

Weight of

parts

Friction of

guideways

Weight of

nut

Weight of

screw

System inertia must be included in the selection of an MDrive and Planetary Gearbox. Inertia is the resistance an object has relative to changes in velocity. Inertia must be calculated and matched to the motor inertia. The Planetary Gearbox ratio plays an important role in matching system inertia to motor inertia. There are many variable factors that affect the inertia. Some of these factors are:

 The type of system being driven.

 Weight and frictional forces of that system.

 The load the system is moving or carrying.

The ratio of the system inertia to motor inertia should be between 1:1 and 10:1. With 1:1 being ideal, a 1:1 to 5:1 ratio is good while a ratio greater than 5:1 and up to 10:1 is the maximum.

Type of System

There are many systems and drives, from simple to complex, which react differently and possess varied amounts of inertia. All of the moving components of a given system will have some inertia factor which must be included in the total inertia calculation. Some of these systems include:

 Lead screw

  Rack and pinion

  Conveyor belt

  Rotary table

 Belt drive

 Chain drive

Not only must the inertia of the system be calculated, but also any load that it may be moving or carrying. The examples below illustrate some of the factors that must be considered when calculating the inertia of a system.

Lead Screw

In a system with a lead screw, the following must be considered:

  The weight and preload of the screw

  The weight of the lead screw nut

  The weight of a table or slide

  The friction caused by the table guideways

  The weight of any parts

A-10

Figure B.2: Lead Screw System Inertia Considerations

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 64

Rack and Pinion

Weight of

pinion and shaft

Preload or friction

between pinion and rack

Load on

rack

Weight of

rack

Friction of

rack in guide

Gearbox

Motor

Weight and size

of drive roller

Weight and size

of idler roller

Weight of

conveyor belt

Weight of

parts

Friction

of belt

Elevation

Motor

Gearbox

In a system with a rack and pinion, the following must be considered:

  The weight or mass of the pinion

  The weight or mass of the rack

  The friction and/or preload between the pinion and the rack

  Any friction in the guidance of the rack

  The weight or mass of the object the rack is moving

  The weight and size of the cylindrical driving pulley or roller

  The weight of the belt

  The weight or mass and size of the idler roller or pulley on the opposite end

  The angle or elevation of the belt

  Any load the belt may be carrying

Figure B.3: Rack and Pinion System Inertia Considerations

Conveyor Belt

In a system with a conveyor belt, the following must be considered:

Figure B.4: Conveyor System Inertia Considerations

Appendices

A-11

Page 65

Rotary Table

Weight and size

of drive pulley

Weight and size

of driven pulley

Friction created by

tension on belt

Weight of

shaft

Weight and

size of table

Weight and position

of parts on table

The position of parts relative

to the center of the

rotary table is important

Friction of any

bearing or support

Motor

Gearbox

In a system with a rotary table, the following must be considered:

  The weight or mass and size of the table

  Any parts or load the table is carrying

  The position of the load on the table, the distance from the center of the table will af-

fect the inertia

  How the table is being driven and supported also affects the inertia

Belt Drive

In a system with a belt drive, the following must be considered:

  The weight or mass and size of the driving pulley

  The tension and/or friction of the belt

  The weight or mass and size of the driven pulley

  Any load the system may be moving or carrying

A-12

Figure B.5: Rotary Table System Inertia Considerations

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 66

Chain Drive

Weight of

chain

Weight and size

of drive

sprocket and hub

Weight and size

of driven sprocket,

shaft and any material

or parts being moved

In a system with a chain drive, the following must be considered:

  the weight and size of drive sprocket and any attaching hub

  the weight and size of the driven sprocket and shaft

  the weight of the chain

  the weight of any material or parts being moved

Figure B.6: Chain Drive System Inertia Considerations

Once the system inertia (JL) has been calculated in oz-in-sec2, it can be matched to the motor inertia. To match the system inertia to the motor inertia, divide the system inertia by the square of the gearbox ratio. The result is called Reflected Inertia or (J

= JL ÷Ζ

ref

Where:

JL = System Inertia in oz-in-sec

= Reflected Inertia in oz-in-sec

ref

Z = Gearbox Ratio

The ideal situation would be to have a 1:1 system inertia to motor inertia ratio. This will yield the best positioning and accuracy. The reflected inertia (J

) must not exceed 10 times the motor inertia.

ref

Your system may require a reflected inertia ratio as close to 1:1 as possible. To achieve the 1:1 ratio, you must calculate an Optimal Gearbox Ratio (Z desired J

. In this case since you want the system inertia to match the motor inertia with a 1:1 ratio, J

ref

) which would be the square root of JL divided by the

opt

ref

would be equal to the motor inertia.

= JL ÷ J

opt

ref

Where:

JL = System Inertia in oz-in-sec

= Optimal Gearbox Ratio

opt

= Desired Reflected Inertia in oz-in-sec2 (Motor Inertia)

ref

Appendices

A-13

Page 67

Planetary Gearbox for MDrive34AC Plus

Key DIN 6885-A-6x6x28mm

Ctrg. DIN 332-D M6x16

4x Ø 0.217 (Ø5.5) Hole

†

4x Ø 0.217 (Ø5.5) Hole

†

0.197* (5.0)

K1 ±0.02 (±0.5)

Ø 2.56*

(Ø 65.0)

1.575

(40.0)

Ø 3.189

(Ø 81.0)

Ø 1.969 +0.0006/-0.0004*

(Ø 50.0 +0.015/-0.010)

Ø 2.874 +0/-0.0012

†

(Ø 73.0 +0/-0.030)

Ø 0.748 +0/-0.0008

(Ø 19.0 +0/-0.021)

0.394

†

(10.0)

MDrive34Plus

3.386 SQ.

(86.0 SQ.)

*Gearbox without Flange †

Gearbox with Flange

1.929* (49.0)

1.811

†

(46.0)

M6 x 0.472 (12.0) Deep*

0.079

†

(2.0)

2.739 SQ.

†

(69.58 SQ.)

Dimensions in inches (mm)

Stages K1

(Gearbox)

(NEMA Flange)

1-Stage 4.315 (109.6)

4.433 (112.6)

2-Stage 5.169 (131.3)

5.287 (134.3)

3-Stage 6.024 (153.0)

6.142 (156.0)

MDrive34AC P lus2 Planetar y G ear box Pa ram eters

Permitted

Output Torque

(oz-in/Nm)

1-STAGE 2832/20.0 0.80 1.0° 90/400 18/80 2-STAGE 8496/60.0 0.75 1.5° 135/600 27/120 3-STAGE 16992/120.0 0.70 2.0°

Gearbox

Efficiency

Maximum

Backlash

Maximum Load

(lb-force/N)

Radial Axial Gearbox with Flange

225/1000

45/200

Table B.2: Planetary Gearbox Specifications – PM81

Output Side with Ball Bearing

Weight

(oz/g)

64.4/1827

89.5/2538

92.6/2625

66.7/1890

92.6/2625

118.5/3360

Figure B.7: Planetary Gearbox Specifications for MDrive34AC Plus

PM81 Gearbox Ratios and Part Numbers

Planetary

Gearbox

1-Stage 3.71:1 G1A1 3-Stage 50.89:1 G1B5 1-Stage 5.18:1 G1A2 3-Stage 58.86:1 G1B6 1-Stage 6.75:1 G1A3 3-Stage 68.07:1 G1B7

2-Stage 13.73:1 G1A4 3-Stage 78.72:1 G1B9 2-Stage 15.88:1 G1A5 3-Stage 92.70:1 G1C1 2-Stage 18.37:1 G1A6 3-Stage 95.18:1 G1C2 2-Stage 19.20:1 G1A7 3-Stage 99.51:1 G1C3 2-Stage 22.21:1 G1A8 3-Stage 107.21:1 G1C4 2-Stage 25.01:1 G1A9 3-Stage 115.08:1 G1C5 2-Stage 26.85:1 G1B1 3-Stage 123.98:1 G1C6 2-Stage 28.93:1 G1B2 3-Stage 129.62:1 G1C7 2-Stage 34.98:1 G1B3 3-Stage 139.14:1 G1C8 2-Stage 45.56:1 G1B4 3-Stage 149.90:1 G1C9

(Rounded)

Ratio

Part

Number

Planetary

Gearbox

3-Stage 71.16:1 G1B8

3-Stage 168.85:1 G1D1 3-Stage 181.25:1 G1D2 3-Stage 195.27:1 G1D3 3-Stage 236.10:1 G1D4 3-Stage 307.55:1 G1D5

Ratio

(Rounded)

Part

Number

Table B.3: Planetary Gearbox Ratios and Part Numbers

A-14

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 68

Planetary Gearbox for MDrive42AC Plus

4.20 SQ. (106.7 SQ.)

3.35 ±0.004 SQ.* (85.0 ±0.1 SQ.)

k1 ±0.02 (±0.5)

M8 x 0.630 (16.0) Deep*

4x 0.33 (Ø 8.5) Hole

*Gearbox without Flange †Gearbox with Flange

Ctrg. DIN 332-D M10

Key DIN 6885-A-8x7x40mm

0.20* (5.0)

0.079 (2.0)

2.33 ±0.02* (59.1 ±0.5)

2.04 ±0.02 (51.7 ±0.5)

Ø 2.76*

(Ø 70.0)

Ø 0.98

(Ø 25.0)

Ø 4.13

(Ø 105.0)

MDrive42AC Plus

0.35* (9.0)

†

Ø 2.187

(Ø 55.54)

†

3.50

(88.9)

0.50

(12.7)

†

Dimensions in inches (mm)

Stages K1

(Gearbox)

(NEMA Flange)

1-Stage 5.73 (145.5)

5.90 (149.9)

2-Stage 7.07 (179.6)

7.13 (181.0)

3-Stage 8.41 (213.7)

8.35 ( 212.0)

MDrive42AC P lus2 Planetar y G ear box Pa ram eters - PM105

Permitted

Output Torque

(oz-in/Nm)

1-STAGE 4956/35.0 0.80 1.0° 135/600 27/120 2-STAGE 14869/105.0 0.75 1.5° 202/900 40/180 3-STAGE 27614/195.0 0.70 2.0°

Gearbox

Efficiency

Maximum Backlash

Radial Axial Gearbox with Flange

337/1500

Output Side with Ball Bearing

Maximum Load

(lb-force/N)

67/300

Table B.4: Planetary Gearbox Specifications – PM105

64.4/1827

89.5/2538

92.6/2625

Weight

(lb/kg)

9.7/4.4

13.2/6.0

16.8/7.6

PM105 Gearbox Ratios and Part Numbers

Appendices

Figure B.8: PM105 Planetary Gearbox Specifications for MDrive42AC Plus

Ratio

(Rounded)

Planetary

Gearbox

1-Stage 3.71:1 G1A1 3-Stage 50.89:1 G1B5 1-Stage 5.18:1 G1A2 3-Stage 58.86:1 G1B6 1-Stage 6.75:1 G1A3 3-Stage 68.07:1 G1B7

Table B.5: PM105 Planetary Gearbox Ratios, Inertia Moments and Part Numbers

Number

Part

Planetary

Gearbox

3-Stage 71.16:1 G1B8

3-Stage 168.85:1 G1D1 3-Stage 181.25:1 G1D2 3-Stage 195.27:1 G1D3 3-Stage 236.10:1 G1D4 3-Stage 307.55:1 G1D5

Ratio

(Rounded)

Part

Number

A-15

Page 69

MDrive42AC P lus2 Planetar y G ear box Pa ram eters - PM120

MDrive42AC Plus

*Gearbox without Flange †Gearbox with Flange

Ø 3.15*

(Ø 80.0)

Ø 2.187

(Ø 55.54)

M10 x 0.866 (22.0) Deep*

4x 0.35 (Ø 9.0) Hole

†

k1 ±0.02 (±0.5)

Ctrg. DIN 332-D M12

Key DIN 6885-A-10x8x50mm

0.20* (5.0)

†

0.079 (2.0)

†

0.24

(6.2)

0.59*

(15.0)

2.86 ±0.02* (72.7 ±0.5)

2.53 ±0.02 (64.2 ±0.5)

Ø 1.26

(Ø 32.0)

Ø 4.72

(Ø 120.0)

4.33 SQ. (110.0 SQ.)

3.94 SQ.*

(100.0 SQ.)

3.50 SQ.

(88.9 SQ.)

0.59

(15.0)

†

Dimensions in inches (mm)

Stages K1

(Gearbox)

(NEMA Flange)

1-Stage 6.23 (158.2)

6.58 (167.2)

2-Stage 7.57 (192.4)

7.93 (201.4)

3-Stage 8.92 (226.6)

9.28 ( 235.6)

Permitted

Output Torque

(oz-in/Nm)

1-STAGE 7080/50.0 0.80 0.55° 135/600 27/120 2-STAGE 21242/150.0 0.75 0.60° 202/900 40/180 3-STAGE 42484/300.0 0.70 0.65°

Gearbox

Efficiency

Maximum

Backlash

Radial Axial Gearbox with Flange

337/1500

Output Side with Ball Bearing

Maximum Load

(lb-force/N)

67/300

Table B.6: Planetary Gearbox Specifications – PM120

64.4/1827

89.5/2538

92.6/2625

Weight

(lb/kg)

12.3/5.6

17.6/8.0

22.9/10.4

A-16

Figure B.9: PM120 Planetary Gearbox Specifications for MDrive42AC Plus

PM120 Gearbox Ratios and Part Numbers

Planetary

Gearbox

1-Stage 3.71:1 G2A1 1-Stage 6.75:1 G2A3

2-Stage 13.73:1 G2A4 2-Stage 25.01:1 G2A9 2-Stage 45.56:1 G2B4

3-Stage 50.89:1 G2B5 3-Stage 92.70:1 G2C1 3-Stage 168.85:1 G2D1 3-Stage 307.55:1 G2D5

Table B.7: PM120 Planetary Gearbox Ratios, Inertia Moments and Part Numbers

Ratio

(Rounded)

MDriveAC Plus Microstepping Hardware - Revision R031808

Part Number

Relevant to Firmware Version 3.0.02

Page 70

Appendix C

10 Pin Connector

Cable Length 6.0 ft (1.8 m)

MD-CC300-000

USB to SPI Parameter Setup Cable

www.imshome.com

USB Cable

Length 6.0 ft (1.8 m)

1.0 in

(25.0 mm)

3.75 in

(95.0 mm)

0.875 in

(22.0 mm)

USB

To MDrivePlus Microstepping

To PC USB

Optional Cables and Cordsets

MD-CC300-000: USB to SPI Parameter Setup Cable

The MD-CC300-000 USB to SPI Parameter Setup Cable with adapter MD-ADP-M23 provides a communication connection between the 19-pin M23 connector on the MDriveAC Plus Microstepping and the USB port on a PC.

IMS SPI Interface Software communicates to the Parameter Setup Cable through the PC's USB port.

The Parameter Setup Cable interprets SPI commands and sends these commands to the MDrive through the SPI interface.

Supplied Components: MD-CC300-000 Parameter Setup Cable, USB Cable, USB Drivers, IMS SPI Interface Software.

Figure C.1: MD-CC300-000

WARNING! DO NOT connect or

disconnect the MDCC300-000 Communications Converter Cable from MDrive while power is applied!

NOTE: All three

components,

the MD-CC300000, MD-ADP-M23 and MD-CS10x-000, or their equivalent are required for prototyping.

Figure C.2: MD-CC300-000 Mechanical Specifications

Installation Procedure for the MX-CC300-000

These Installation procedures are written for Microsoft Windows XP Service Pack 2. Users with earlier versions of Windows please see the alternate installation instructions at the IMS web site (http://www.imshome.com).

The installation of the MD-CC300-000 requires the installation of two sets of drivers:

 Drivers for the IMS USB to SPI Converter Hardware.

 Drivers for the Virtual Communications Port (VCP) used to communicate to your IMS Product.

Therefore the Hardware Update wizard will run twice during the installation process.

The full installation procedure will be a two-part process: Installing the Cable/VCP drivers and Determining the Virtual COM Port used.

Installing the Cable/VCP Drivers

1) Plug the USB Converter Cable into the USB port of the MD-CC300-000.

2) Plug the other end of the USB cable into an open USB port on your PC.

3) Your PC will recognize the new hardware and open the Hardware Update dialog.

4) Select “No, not this time” on the radio buttons in answer to the query “Can Windows Connect to Windows Update to search for software?” Click “Next” (Figure C.3).

Appendices

Figure C.3: Hardware Update Wizard

A-17

Page 71

5) Select “Install from a list or specific location (Advanced)” on the radio buttons in answer to the query “What do you want the wizard to do?” Click “Next” (Figure C.4).

Figure C.4: Hardware Update Wizard Screen 2

6) Select “Search for the best driver in these locations.”

(a) Check “Include this location in the search.” (b) Browse to the MDrive CD [Drive Letter]:\ Cable_Drivers\MD-CC303-000_DRIVERS. (c) Click Next (Figure C.5).

Figure C.5: Hardware Update Wizard Screen 3

7) The drivers will begin to copy.

8) On the Dialog for Windows Logo Compatibility Testing, click “Continue Anyway” (Figure C.6).

Figure C.6: Windows Logo Compatibility

Testing

9) The Driver Installation will proceed. When the Completing the Found New Hardware Wizard dialog appears, Click “Finish” (Figure C.7).

10) Upon finish, the Welcome to the Hardware Update Wizard will reappear to guide you through the second part of the install process. Repeat steps 1 through 9 above to complete the cable installation.

11) Your IMS MD-CC300-000 is now ready to use.

A-18

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 72

Figure C.7: Hardware Update Wizard Finish Installation

Determining the Virtual COM Port (VCP)

The MD-CC300-000 uses a Virtual COM Port to communicate through the USB port to the MDrive. A VCP is a software driven serial port which emulates a hardware port in Windows.

The drivers for the MD-CC300-000 will automatically assign a VCP to the device during installation. The VCP port number will be needed when IMS Terminal is set up in order that IMS Terminal will know where to find and communicate with your IMS Product.

To locate the Virtual COM Port.

1) Right-Click the “My Computer” Icon and select “Properties”.

2) Browse to the Hardware Tab (Figure C.8), Click the Button labeled “Device Manager”.

3) Look in the heading “Ports (COM & LPT)” IMS USB to SPI Converter Cable (COMx) will be listed (Figure C.9). The COM # will be the Virtual COM Port connected. You will enter this number into your IMS SPI Motor Interface Configuration.

Appendices

Figure C.8: Hardware Properties

Figure C.9: Windows Device Manager

A-19

Page 73

MDrivePlus

To Customer PC

USB Port

To Controller

Interface

MD-CS100/101-000

Single-End Cordset

MD-CC300-000

Parameter Setup Cable

USB Cable

Length 6.0 ft (1.8 m)

Pin 1

MISO

SCLK

MOSI

GNDCS+5VDC

For protyping, all three of these components (or their equivalent) are required!

MD-ADP-M23

Adapter

B100283 REV -

0.58

(14.7)

1.59

(40.4)

1.83

(46.5)

0.84

(21.3)

1.00

(25.4)

Overall Height = .60" (15.2)

Adapter

The MD-ADP-M23 Adapter provides connection capability between the MD-CC300-000 Parameter Setup Cable and the 19-Pin M23 connector on the MDriveAC Plus via a single-end cordset. The MD-ADP-M23 has two connectors: a 10-pin IDC, into which the MD-CC300-000 plugs directly, and a 7-Pin Pluggable Terminal Strip into which the Cordset is connected.

A-20

Figure C10: Typical Setup, Adapter and Single-End Cordset

Figure C.11: MD-ADP-M23

MDriveAC Plus Microstepping Hardware - Revision R031808

Figure C.12: MD-ADP-M23 Mechanical

Specifications

Relevant to Firmware Version 3.0.02

Page 74

MD-CS100-000

MD-CS101-000

2.815”

(71.5 mm)

13.0’

(4.0 m)

2.37”

(60.2 mm)

Pin 4

Pin 5

Pin 7

Pin 8

Pin 10

Pin 11

Pin 1

Pin 2

Pin 19

Pin 18

Pin 17

Pin 14

Pin 15

Pin 16

Outside: Pins 1 -12

Inside: Pins 13 - 19

Pin 3

Pin 12

Pin 6

Pin 9

Pin 13

Ensure adequate space is available within your enclosure for the cordset connector!

MD-CS10x-000 Cordset

19-pin M23 single-ended cordsets are offered to speed prototyping of the MDriveACPlus Microstepping. Measuring 13.0' (4.0m) long, they are available in either straight or right angle termination. PVC jacketed cables come with a foil shield and unconnected drain wire.

Straight Termination .....MD-CS100-000

Right Angle .................. MD-CS101-000

Pin Assignment and W ir e Colors

P1 - Expanded I/O Configuration

Cordset Wire Color

Violet Opto Reference Opto Reference Pin 1

Red Enable Enable Pin 2

Grey N/C Index + Pin 3

Red/Blue N/C Channel B + Pin 4

Green N/C Channel B – Pin 5

Blue N/C N/C Pin 6

Gray/Pink N/C Channel A + Pin 7

White/Green MOSI MOSI Pin 8 White/Yellow CS CS Pin 9

White/Gray +5 VDC Output +5 VDC Output Pin 10

Black GND GND Pin 11

Green/Yellow N/C N/C Pin 12

Yellow/Brown

Brown/Green N/C Index – Pin 14

White N/C Channel A – Pin 15

Yellow SPI Clock SPI Clock Pin 16

Pink MISO MISO Pin 17

Gray/Brown

Brown

Step Clock/Channel

Function

(Expanded I/O)

Direction/Channel

B/ Clock Down

Function (Optical

Encoder)

Direction/Channel B/

Clock Down

Step Clock/Channel

A/ Clock Up

Fault Output Fault Output

Table C.1: MD-CS10x-000 Wire Color Chart

MDrive P1

Pin 13

Pin 18

Pin 19

Figure C.13: MD-CS10x-000 Prototype Development Cordset

Appendices

A-21

Page 75

WARNING! Do not

MD-CS200-000

MD-CS201-000

13’ (4.0 m)

2.54” (64.5 mm)

1.70”

(43.3 mm)

Pin 1

Pin 3

Pin 2

3-Pin Euro AC Connector

Ensure Adequate Space is available inside your

enclosure to allow for the cordset connector!

plug or unplug AC Power at the Motor with the power on!

Note: UL Recognition requires

the use of the MD-CS20x-000 or Lumberg Equivalent AC Power Cordset.

MD-CS20x-000 Cordset

The single-end three conductor cordsets are used with the MDrive AC. Measuring 13.0' (4.0m) long, they are available in either straight or right angle termination. Euro AC Color Code, Oil-resistant yellow PVC jacket, IP68 and NEMA 6P rated.

Straight Termination ............................MD-CS200-000

Right Angle Termination .....................MD-CS201-000

Euro AC Cordset

Euro AC Euro Cordset Color Code

Pin 1 Yellow/Green

Pin 2 Brown

Pin 3 Blue

Table C.2: Euro AC Wire Color Chart

Figure C.14: MD-CS20x-000

A-22

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 76

Appendix D

Pin 3: Index +

Pin 4: Channel B +

Pin 5: Channel B -

Pin 7: Channel A +

Pin 15: Channel A -

Pin 14: Index -

MDriveAC Plus Microstepping

Controller

Index -

Index +

Channel A+

Channel B -

Channel B +

Channel A -

Interfacing the Internal Differential Optical Encoder

Factory Mounted Encoder

Encoders are available in differential configurations. All encoders have an index mark, except the MDrive42AC 400 line count.

Use of the encoder feedback feature of this product requires a controller such as an IMS MicroLYNX or PLC.

The encoder has a 100 kHz maximum output frequency.

The MDriveAC Plus Microstepping are available with an internal differential optical encoder. Available line counts are:

MDrive34AC MDrive42AC

Line Count Part Number Line Count Part Number

100 EA 100 EA 200 EB 200 EB 250 EC —— —— 256 EW —— —— 400 ED 400 ED 500 EH 500 EH

512 EX 512 EX 1000 EJ 1000 EJ 1024 EY 1024 EY

Table D1: Available Encoder Line Counts and Part Numbers

General Specifications

Min Typ Max Units

Supply Voltage (VDC) ......................... -0.5 ........................................................... 7 ......................Volts

Supply Current ......................................30............................. 57 .......................... 85 ..................... mA

Output Voltage .................................... -0.5 ......................................................... Vcc ...................Volts

Output Current (Per Channel) ............. -1.0 ........................................................... 5 ....................... mA

Maximum Frequency ................................................................................................................. 100kHz

Inertia ............................................................................................... 0.565 g-cm2 (8.0 x 10-6 oz-in-sec2)

Temperature

Operating ................................................................................................................ -40 to +100° C

Storage ..................................................................................................................... -40 to +100° C

Humidity ............................................................................................................ 90% (non-condensing)

Pin Configuration

Appendices

Figure D.1: Internal Differential Encoder Pin Configuration

A-23

Page 77

2.4 V

0.4 V

2.4 V

0.4 V

2.4 V

0.4 V

2.4 V

0.4 V

2.4 V

0.4 V

2.4 V

0.4 V

Channel

Channel B +

Index +

Channel

Channel B -

Index -

Rotation: CW – B Leads A CCW – A Leads B

Encoder Signals

Differential Encoder

Figure D.2: Differential Encoder Signal Timing

Note: Rotation is as viewed from the cover side.

(X/Y) Symmetry: A measure of the relationship between X and Y, nominally 180°e.

(Z) Quadrature: The phase lag or lead between channels A and B, nominally 90°e.

(Po) Index Pulse Width: Nominally 90°e.

C h a r a c te ri st ic s

Parameter Symbol Min Typ Max Units

Cycle Error ................................................................................................ 3 .................... 5.5 .................°e

Symmetry ............................................................................. 130 ............180 .................. 230 ................°e

Quadrature ............................................................................ 40 .............. 90 ................... 140 ................°e

Index Pulse Width ..............................................Po .............. 60 .............. 90 ................... 120 ................°e

Index Rise After CH B or CH A fall ................... t1 ..............-300 ........... 100 .................. 250 ................ns

Index Fall After CH A or CH B rise ................... t2 ............... 70 ............. 150 .................1000 ...............ns

Over recommended operating range. Values are for worst error over a full rotation.

A-24

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 78

Appendix E

100

15 20

25 30 35 40 45 50

133

178

222

267

356

400

445

311

Axial Force in N

(127)

(254)

(381) (508)

(635) (762) (889) (1016) (1143) (1270)

Axial Force in lbs

1.00" Screw Lead

0.50" Screw Lead

0.20" Screw Lead

0.10" Screw Lead

V Inches / sec (mm / sec)

300

400

500

600

200

100

Torque – Oz - In

Torque in N - cm

212

283

354

424

141

Speed – Full Steps/Second (RPM)

0 2000

(600)

4000

(1200)

6000

(1800)

10000

(3000)

8000

(2400)

700 495

240 VAC

120 VAC

Single Stack

Double Stack

Triple Stack

Linear Slide Option

Features

• Screw driven slide offering exceptional linear speed, accurate positioning and long life at a compelling value

• High bidirectional repeatability of up to 50 micro-inches (1.25 microns)

• Positional lead accuracy of 0.0006"/in. – accuracies to 0.0001"/in. available

• Linear speeds not limited by critical screw speed

• Standard leads:

- 0.10" travel per revolution - 0.50" travel per revolution

- 0.20" travel per revolution - 1.00" travel per revolution

• Achieve speeds that exceed 60.0"/second while offering excellent repeatability, accuracy and axial stiffness

• Optional sensor flag kit available for home, limits and general purpose inputs

• Assembly includes a precision aluminum guide and carriage which is driven by a precision rolled stainless steel lead screw

• Sliding contact areas coated with TFE (Teflon) permanent lubrication to offer a low 0.09 coefficient of friction

• Exceptional torsional stiffness and stability

• Standard lengths from 12.0" to 42.0", longer sizes available upon request

• Comes standard with wear-compensating, anti-backlash driven carriage

• Additional passive carriages or slides available to support cantilevered loads

• Easily mountable with provided mounting flange and holes

• Extrusions provided for sensor mounts

MDrive34Plus Linear Slide

Speed-Force Limitations

Figure E.1: Speed Force Limitations

Speed-Torque Curves

Appendices

†

Figure E2: MDrive34Plus Speed Torque Curves

†

Speed/Force correlating equations:

Axial Force = F

= (Weight)(0.09)

friction

= (Weight)(Acceleration) / Accel. of gravity

acceleration

= 0 for horizontal application and 1 Weight for vertical application

gravity

Torque =

Force in lbs; Torque in oz-in, Lead in inches/rev

Full Steps (200 Full Steps/Rev)(Velocity)

(Axial Force)(Screw Lead)

(0.393)(Screw Efficiency)

Second Lead

Lead in inches/rev; Velocity in inches/second

friction

+ F

acceleration

+ F

gravity

A-25

Page 79

Specifications

2.14

(54.4)

2.00

(50.8)

1.000

(25.4)

3.38 SQ.

(85.9 SQ.)

0.69

(17.5)

0.50

(12.7)

1.23

(31.2)

2.34

(59.3)

0.56

(14.2)

1.1

(27.9)

1.250 (31.8)

2.25

(57.2)

Mounting Holes Ø 0.26 (6.6) THRU HOLE

4 x 1/4-20 SHCS

0.750

(19.1)

2.6

(66.0)

0.75

(19.1)

1.50

(38.1)

0.85

(21.6)

1.25

(31.8)

0.60

(15.2)

3.25

(82.6)

1.56

(39.6)

1.30

(33.0)

2.20

(55.9)

0.95

(24.1)

5.15 (130.8)

Screw

Lead

Screw

Efficiency

Nom. Screw

Diam.

inches

(mm)

Inch Lead

inches (mm)

Max Drag

Torque

oz inch

(Nm)

0.10" 40 0.625 (15.9) 0.100 (2.54) 5.0 (0.04)

0.20" 53 0.625 (15.9) 0.200 (5.08) 6.0 (0.04)

0.50" 76 0.625 (15.9) 0.500 (12.70) 7.0 (0.05)

1.00" 81 0.625 (15.9) 1.000 (25.40) 8.5 (0.06)

Table E.1: MDrive34Plus Linear Slide Specifications

Mechanical Specifications

Dimensions in Inches (mm)

1 Motor Mounting Plate

2 Heli-Cal Coupling

3 Sunx P/N PM-L24 sensor or equivalent (not supplied)

4 Optional Sensor Flag Kit for use with U-channel sensor (details below)

SIDE VIEW

Life @ ¼

Design Load

inches

(cm)

100,000,000

(254,000,000)

100,000,000

(254,000,000)

100,000,000

(254,000,000)

100,000,000

(254,000,000)

Torque to

Move Load

oz inch/lb

(Nm/kg)

Axial

Design Load

lbs

(kg)

1.3 (0.020) 100 (46)

2.0 (0.031) 100 (46)

3.0 (0.047) 100 (46)

6.5 (0.101) 100 (46)

END VIEW

Screw Inertia

oz.in.sec2/inch

(Kgm2/m)

14.2 x 10

-5

(3.9 x 10-5)

14.2 x 10

-5

(3.9 x 10-5)

14.2 x 10

-5

(3.9 x 10-5)

14.2 x 10

-5

(3.9 x 10-5)

TOP VIEW

Sensor Flag Kit Option

P/N RSM10-K Includes:

A #2-56 X 1/4" Long BHCS (6)

B Sensor Holder (3)

C #4-40 X 1/2" Long SHCS (3)

D Flag for Optical Sensor (1)

E #6-32 X 1/2" Long SHCS (2)

Plus

MDrive34

Mounting Holes

Slide

Max Hole

Travel distance = L – (O + P)

[O + P = 4.55" (115.6 mm)]

Distance

Extra Hole

Sets (not

shown)

Length

12" 10.5" none 10.5"

18" 16.5" 1 8.25"

Plus

MDrive34

24" 22.5" 2 7.5"

36" 34.5" 2 11.5"

42" 40.5" 2 13.5"

Equal

Space

Between

Holes

Mounting Bracket Kit Option

Optical sensor – Sunx P/N PM-L24 or equivalent (not supplied)

P/N RMB10-K Includes:

F Mounting Bracket (2)

G #1/4-20 X 3/4" Long SHCS (4)

2X M8 SHCS

(not supplied)

2X M8 steel washer

(not supplied)

A-26

Figure F.3: Mechanical Specifications

MDriveAC Plus Microstepping Hardware - Revision R031808

Relevant to Firmware Version 3.0.02

Page 80

WARRANTY

TWENTY-FOUR (24) MONTH LIMITED WARRANTY

Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased from IMS (the “Product”) will be free from defects in materials and workmanship under the normal use and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the Customer. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s sole option, of the Product, or any part of the Product, determined by IMS to be defective. In order to exercise its warranty rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty Service.”

NOTE: MDrive Motion Control electronics are not removable from the motor in the eld. The entire unit must be returned to the factory for repair.

This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the

Product; installation, operation or use of the Product not made in strict accordance with the specications and written

instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary

wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modications to the Product; the misuse

or failure of any item or equipment connected to the Product not supplied by IMS; improper maintenance or repair of the Product; or any other reason or event not caused by IMS.

IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS STATED ABOVE, AND IN NO EVENT WILL THE IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.

This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This Limited Warranty is the sole warranty offered by IMS with respect to the Product. IMS does not assume any other liability in connection with the sale of the Product. No representative of IMS is authorized to extend this Limited Warranty or to change it in any manner whatsoever. No warranty applies to any party other than the original Customer.

IMS and its directors, ofcers, employees, subsidiaries and afliates shall not be liable for any damages arising from any

loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production

or prots, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages,

whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory, or other losses or expenses incurred by the Customer or any third party.

OBTAINING WARRANTY SERVICE

Warranty service may obtained by a distributor, if the Product was purchased from IMS by a distributor, or by the Customer directly from IMS, if the Product was purchased directly from IMS. Prior to returning the Product for service, a Returned Material Authorization (RMA) number must be obtained. Complete the form at http://www.imshome.com/rma.html after which an RMA Authorization Form with RMA number will then be faxed to you. Any questions, contact IMS Customer Service (860) 295-6102.

Include a copy of the RMA Authorization Form, contact name and address, and any additional notes regarding the Product failure with shipment. Return Product in its original packaging, or packaged so it is protected against electrostatic discharge or physical damage in transit. The RMA number MUST appear on the box or packing slip. Send Product to: Intelligent Motion Systems, Inc., 370 N. Main Street, Marlborough, CT 06447.

Customer shall prepay shipping changes for Products returned to IMS for warranty service and IMS shall pay for return of Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for Products returned to IMS from outside the United States.

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intelligent motion systems, INC.

Excellence in Motion

www.imshome.com

370 N. Main St., P.O. Box 457 Marlborough, CT 06447 U.S.A. Phone: 860/295-6102 Fax: 860/295-6107 E-mail: info@imshome.com

TECHNICAL SUPPORT

Phone: 860/295-6102 (U.S.A.) Fax: 860/295-6107 E-mail: etech@imshome.com

Germany/UK

Phone: +49/7720/995858-3 Fax: +49/7720/995858-9 E-mail: mweber@imshome.com

DISTRIBUTED BY:

U.S.A. SALES OFFICES Eastern Region

Phone: 973/661-1270 Fax: 973/661-1275 E-mail: jroake@imshome.com

Central Region

Phone: 260/402-6016 Fax: 419/858-0375 E-mail: dwaksman@imshome.com

Western Region

Phone: 602/578-7201 E-mail:

dweisenberger@imshome.com

IMS UK Ltd.

25 Barnes Wallis Road Segensworth East Fareham, Hampshire PO15 5TT Phone: +44/0 1489-889825 Fax: +44/0 1489-889857 E-mail: mcheckley@imshome.com

IMS ASIA PACIFIC OFFICE

30 Rafﬂes Pl., 23-00 Caltex House Singapore 048622 Phone: +65/6233/6846 Fax: +65/6233/5044 E-mail: wllee@imshome.com

IMS Product Disclaimer and most recent product information at www.imshome.com.

IMS EUROPE GmbH Niedereschacher Strasse 54 78083 Dauchingen, Germany Phone: +49/7720/995858-0 Fax: +49/7720/995858-9 E-mail: info@imseuropehome.com

European Sales Management

4 Quai Des Etroits 69005 Lyon, France Phone: +33/4 7256 5113 Fax: +33/4 7838 1537 E-mail: bmartinez@imshome.com

Germany Sales

Phone: +49/35205/4587-8 Fax: +49/35205/4587-9 E-mail: hruhland@imshome.com

Germany/UK Technical Support

Phone: +49/7720/995858-3 Fax: +49/7720/995858-9 E-mail: mweber@imshome.com

Intelligent Motion Systems MDrive34AC User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual